This user manual describes all items concerning the operation of

the system in detail as much as possible. However, it is impractical to give

particular descriptions of all unnecessary and/or unavailable operations of

the system due to the manual content limit, product specific operations and

other causes. Therefore, the operations not specified herein shall be

considered impossible or unallowable.

This user manual is the property of GSK CNC Equipment Co., Ltd.
All rights are reserved. It is against the law for any organization or individual

to publish or reprint this manual without the express written permission from

GSK and the latter reserves the right to ascertain their legal liability.
 GE2000 Series AC Servo Drive Unit User Manual

FOREWORD
Dear user,

We are really grateful for your patronage and purchase of this product of GSK
CNC Equipment Co., Ltd.

The manual describes the performance as well as the instructions for

installation, wiring, commissioning, operation and maintenance of the GE2000
series bus-oriented AC servo Drive Unit.

The operations involve the contents of two software versions: 1) The Version V1.02
focuses on the configuration of servomotors with an incremental encoder; 2) The Version
V3.02 applies to the configuration of servomotor with a Tamagawa 17-bit absolute
encoder and adapts with Danaher 17-bit absolute encoder servomotor (the user manual
mainly describes the Version V1.02) .

● The contents herein are subject to change as a result of product modification

without further notice.
● We assume no reliability for any consequence of user’s modification of the product.
In this case, the product warranty will become void.
To ensure the safety as well as the normal and efficient operation of the product, it is
important to thoroughly read this manual prior to the installation and operation of it.

Special attention shall be given to the following warnings and precautions while
reading this manual in order to prevent injury of operator and other persons as well as
damage of the mechanical equipment.

Warning Incorrect operation may lead to severe injury or even

death.

Incorrect operation may cause moderate or slight injury

Caution
and property losses.

Negligence of the suggestion may result in an undesired

Attention consequence and condition.

2
 Foreword and Safety Warnings

Danger

Tighten all connecting terminals of the main Make sure to install the drive unit on an
circuit with an appropriate torque. incombustible carrier and keep it away from
inflammable substances.
Negligence of the instruction may Negligence of the instruction may
lead to loose conductor lead to fire.
connection, electric spark and
even fire.

Make sure the input power supply is Always ground the protective grounding terminal
disconnected prior to wiring. PE on the servo unit.
Negligence of the instruction may Negligence of the instruction may
lead to electric shock. lead to electric shock.

Have the wiring performed and inspected by a Make sure to disconnect the unit from power
qualified electrician. supply and wait for at least five minutes before
moving, wiring, examining or maintaining it.
Negligence of the instruction may Negligence of the instruction may
lead to electric shock or fire. lead to electric shock.

Strictly abide by the procedures herein in Make sure to tighten the power supply terminals
wiring. and motor output terminals.
Negligence of the instruction may Negligence of the instruction may
lead to equipment damage and lead to fire.
electric shock.

Do not operate the switches with a wet hand. Do not reach your hands into the servo unit.
Negligence of the instruction may Negligence of the instruction may
lead to electric shock. lead to electric shock.

Do not open the cover of the terminal block Do not directly touch the connecting terminals
while the unit is energized or is operating. on the main circuit of the drive unit.
Negligence of the instruction may Negligence of the instruction may
lead to electric shock. lead to electric shock.

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 GE2000 Series AC Servo Drive Unit User Manual

Attention
After the power supply is restored, do not Do not stop heat elimination or place any foreign
immediately perform any work on the coupling matter into the fan or radiator.
of the servomotor as the drive unit may start
suddenly.
Negligence of the instruction may Negligence of the instruction may
cause personal injury. lead to equipment damages or a
fire.

Do not place the power cord on a sharp edge Do not operate the energized servo drive unit
or under load or stress. when the cover of the terminal block is removed.
Negligence of the instruction may Negligence of the instruction may
lead to electric shock, fault or lead to electric shock.
damage.

Caution
The electric motor must be equipped with a The voltage applied on all terminals must be
suitable servo unit. consistent with the ratings specified on the
manual.
Negligence of the instruction may Negligence of the instruction may
lead to equipment damage. lead to equipment damage.

Loaded operation is only permitted after In case of alarm, make sure to eliminate the
successful no-load operation. trouble before operation.
Negligence of the instruction may Negligence of the instruction may
lead to equipment damage. lead to equipment damage.

Do not grasp the power cord or motor shaft In case of a missing or defective component of
during the transport of the motor. the spindle drive unit, do not operate the motor
but immediately contact your dealer.
Negligence of the instruction may Negligence of the instruction may
lead to equipment damage. lead to equipment damage.

4
 Foreword and Safety Warnings

Caution

Do not connect the power input wires R, S and Do not turn on/off the input power supply.
T to the output terminals U, V and W of the
motor.
Negligence of the instruction may Negligence of the instruction may
lead to equipment damage. lead to equipment damage.

Do not touch the heat sink for the motor and Do not perform any limit adjustment or change
servo unit during operation as they may of parameters.
become very hot.
Negligence of the instruction may Negligence of the instruction may
lead to burn. lead to equipment damage.

Do not attempt to modify, remove or repair the The electronic components inside a discarded
drive unit without permission from your dealer. drive unit shall be disposed as industrial waste
without reuse.
Negligence of the instruction may Negligence of the instruction may
lead to equipment damage. cause accidents.

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 GE2000 Series AC Servo Drive Unit User Manual

Safety Precaution

■Transportation and delivery

z Do not put over six packing boxes in piles

z Never climb the packing box, neither stand on it, nor place heavy items on it
z Do not use cable connected with the product to drag or move the product
z Forbid crash, scratch the panel and display screen
z Protect the system from humidity, sunlight and raindrops

■Check

z Ensure the ordered products after opening the packing box

z Ensure the products are perfect
z Ensure all elements are complete and perfect
z Contact with us if you have questions about the product type, accessories or products
damaged during transportation

■Wiring

z Only qualified persons can connect the system or check the connection
z The product must earthed, grounding resistance should not be more than 0.1Ω and earth
wire cannot be replaced with neutral line(null line)
z Wiring must be correct and fixed to avoid failure or unexpected result
z Surge absorber diode connected with the product must be connected in provided direction,
otherwise, the product is damaged
z Turn off the power before pulling out the plug or opening the chassis

6
 Foreword and Safety Warnings

Safety Responsibilities

Safety Responsibilities of Manufacturer

—— The manufacturer shall be responsible for the risks eliminated and/or controlled in
the design and structure of the supplied servo unit and accompanying accessories.
——The manufacturer shall ensure the safety of the supplied servo unit and
accompanying accessories.
——The manufacturer shall be held responsible for the information and advices on
usage given to the user.

Safety Responsibilities of User

——A user shall study and be trained for the safe operation of the servo unit and
understand and master the knowledge regarding safe operation.
——The user shall take responsibility for the risks arising from his/her addition, change
or modification of the original servo unit and accessories.
——The user shall be held responsible for the risks caused by the operations,
adjustments, installation and transport of the product without following the
requirements of the manual.

This manual is retained by the end user.

Thank you for your friendly support in using the products of GSK

CNC Equipment Co., Ltd.

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 GE2000 Series AC Servo Drive Unit User Manual

Contents

Chapter 1 Summary...................................................................................................................................... 1

1.1 Product Overview ................................................................................................................................ 1

1.2 Fundamentals ...................................................................................................................................... 2
1.3 Receiving Inspection........................................................................................................................... 8
1.4 Product Appearance ......................................................................................................................... 11

Chapter 2 Installation................................................................................................................................. 12

2.1 Ambient Conditions ........................................................................................................................... 12

2.2 Installation of Servo Drive Unit ........................................................................................................ 12
2.3 Installation of Servomotor ................................................................................................................ 17

Chapter 3 Wiring ......................................................................................................................................... 18

3.1 Main Circuit Connection ................................................................................................................... 19

3.2 Functions of Terminals...................................................................................................................... 22
3.3 I/O Interface........................................................................................................................................ 29

Chapter 4 Parameters ................................................................................................................................ 30

4.1 Summary of Parameters .................................................................................................................. 30

4.2 Functions of Parameters .................................................................................................................. 32
4.3 Checklist of Model Numbers and Specification of Motor............................................................. 43

Chapter 5 Alarms and Remedies ............................................................................................................ 46

5.1 Abnormalities Arising from Improper Usage.................................................................................. 46

5.2 Summary of Alarms........................................................................................................................... 47
5.3 Solutions for Alarms .......................................................................................................................... 49

Chapter 6 Display and Operations ......................................................................................................... 56

6.1 Keyboard Operations........................................................................................................................ 56

6.2 Monitoring Mode................................................................................................................................ 57
6.3 Parameter Setting ............................................................................................................................. 59
6.4 Parameter Management................................................................................................................... 61
6.5 Speed Trial operation........................................................................................................................ 63
6.6 JOG operation.................................................................................................................................... 64
6.7 Other ................................................................................................................................................... 64

VIII
 Contents

Chapter 7 Power-on and Operation ....................................................................................................... 65

7.1 Connection to Power Supply........................................................................................................... 65

7.2 Trial Operation ................................................................................................................................... 67
7.3 Adjustments ....................................................................................................................................... 69

Chapter 8 Product Specification............................................................................................................. 72

8.1 Specification of Drive Unit................................................................................................................ 72

8.2 Specification of Servomotor............................................................................................................. 73
8.3 Isolation Transformer........................................................................................................................ 79
8.4 External Brake Resistance .............................................................................................................. 84

Chapter 9 Ordering Guide ........................................................................................................................ 86

9.1 Capacity Selection ............................................................................................................................ 86

9.2 Electronic Gear Ratio ....................................................................................................................... 86
9.3 Stop Characteristics.......................................................................................................................... 87
9.4 Calculation for Type Selection of Servo and Position Controller ............................................... 87
9.5 Examples of Model Numbers Available for Ordering................................................................... 88

IX
 Chapter 1 Summary

Chapter 1 Summary
1.1 Product Overview
The AC servo technology has been proved since the early 1990s. With ever-improving
performance, it is widely applied to NC machine tools, printing and packaging machines, textile
machines, automated production lines and other areas of automation.
GE2000 series AC servo Drive Unit (also known as bus-oriented AC servo Drive Unit) is a
new generation of products with an up-to-date industrial Ethernet bus communication
interface developed by us.
The external control device for the series of Unit can communicate with several GSK-LINK
bus-oriented AC Servo Drive Unit through only one network cable. They feature simple interfaces,
easy installation and high compatibility. Through a high-speed and reliable GSK-LINK field bus and
protocol, a NC system may receive/send diversified data including position, speed command, motor
encoder data, controlling parameters for current loop, speed loop and position loop, state parameters
of drive unit and other messages from/to a servo Drive Unit. By supporting diversified data, the
system may exert control over the operation of a motor and better realize the real-time monitoring of
the control and drive Unit through configuration of position, speed command and adaptive
parameters of the system, thereby further improving the processing efficiency and accuracy of the NC
system. With a built-in advanced and dedicated chip for control over the motor, a FPGA
(Field-Programmable Gate Array) and a new IPM intelligent power module, the servo drive unit is
characterized by high integrity, compactness, complete protection and high reliability.
GE2000 AC servo unit has the following advantages over step drive Unit:
z No out-of-step
The servomotor is provided with an encoder that Open-loop control Stepper motor

feeds back position signal to the servo drive unit

and exerts semi-closed loop control with an
open-loop control device.
z Wide speed ratio and constant torque
Speed regulation ratio of 1: 5000 and constant
torque characteristics at low to high speed; Controller
incremental encoders or 17-bit absolute encoders
are available upon customer’s request.
z High speed and accuracy
Maximum rotating speed of servomotor: 3,000 rpm; rotary positioning accuracy: 1/10,000r
Note: The maximum rotating speed of servomotor varies with its model.

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 GE2000 Series AC Servo Drive Unit User Manual

z Simple and flexible control

It is possible to properly set the operating mode and characteristics of the servo system through
the system interface in order to meet different requirements.
Characteristics of GE2000 series AC servo unit:

z The data transfer speed is up to 100MBit/s by using an industrial Ethernet bus for communication
transmission.
z High anti-jamming capacity, bit error rate: 10-12
z The closed and open loops share one hardware structure with a communication data length of
0～256 (bits) and minimum communication cycle of 200µs.
z It is easy to operate and adjust servo parameters and possible to adjust servo parameters and
monitor servo through the system interface.
z Servo parameter optimization function is added to improve debugging efficiency and machine
rigidity when it is matched with bus system.
z Add the 2nd gain function to meet different types of machining requirements with bus system.

1.2 Fundamentals

1. Operating Principle of AC Servo Drive Unit

The AC servo drive unit consists of an AC servo unit and an AC servomotor (3-phase
permanent-magnet synchronous motor, hereinafter called “servomotor”). The servo unit rectifies
3-phase alternating current into direct current (namely AC to DC) and produces approximately simple
harmonic alternating current (namely DC to AC) with 120° phase difference in the 3-phase stator
winding of the servomotor by controlling the switching of the power switching tube. The current
creates a rotating field in the servomotor. The rotor of the servomotor is made of high
anti-demagnetizing rare-earth permanent magnetic material. The rotor of the servomotor is driven by
the electromagnet torque as a result of the interaction of the magnetic field of the rotor for the
servomotor and its rotating magnetic field. The higher the frequency of the current through the
servomotor winding is, the faster the servomotor rotates. The output torque (torque = force x length of
2
 Chapter 1 Summary

moment arm) of the servomotor increases with the amplitude of the current through the servomotor
winding.
Figure 1-1 is the block diagram of the main circuit in which PG indicates an encoder.

Figure 1-1 Block diagram of the main circuit of AC servo drive unit
2. Basic Structure of AC Servo Drive Unit
The servo unit receives speed commands from a control unit (also known as host computer)
such as CNC system to control the amplitude and frequency of the current through the winding of the
servomotor so that the rotating speed (or angle of rotation) of the rotor for the servomotor is close to
the value of the speed (or position) commands, and knows the deviation of the real rotating speed (or
angle of rotation) of the servomotor rotor from the command value through the feedback signal of the
encoder. The servo unit keeps the deviation of the real rotating speed (or angle of rotation) of the
servomotor rotor from the command value within the required range by continuous regulating the
amplitude and frequency of the current through the winding of the servomotor. The basic structure of
the servo system is shown in Figure 1-2.

setting

CNC ＋ Control Driving

Power drive unit Motor
equipment unit machine
－

Feedback
check
AC servo drive equipment

Figure 1-2 Basic structure of AC servo drive unit

3. General Glossaries regarding Control

z Control: Control refers to the procedure allowing the characteristics (e.g. rotating speed) of the

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 GE2000 Series AC Servo Drive Unit User Manual

object (e.g. servomotor) to reach or become close to the expected value. The foregoing object is
called “controlled object”, its characteristics “controlled variable”, the device that realizes the control
“control unit (controller)”, the expected value (command value) of the controlled variable received by
the control unit “setting”, the process that the controlled variable is affected as the input of the
controller “feedback” and the unit that is used to detect the controlled variable “feedback unit”.
Feedback is divided into positive feedback (in the same direction) and negative feedback (in opposite
direction). The controller that realizes the controlled variable, the controlled object and feedback unit
compose a “control system”. A drive is under closed-loop control or open-loop control depending on
the presence of a feedback unit and the position where the feedback unit is located in the drive. The
closed-loop control described in the manual is of negative feedback.
Among the AC servo Drive Unit described herein, the servo unit serves as a controller, the
servomotor controlled object, rotating speed (or angle of rotation of rotor) of motor controlled variable
and the encoder of the servomotor feedback unit. The encoder detects the actual rotating speed of
the motor for speed control so as to achieve speed feedback. Therefore the AC servo drive unit is a
closed-loop control system.
z Open-loop control: The actual value of the controlled variable does not affect the output of the
controller if the control system is not provided with a feedback device. For a stepper motor drive, for
example, the rotor of a stepper motor shall rotate with the change in the phase sequence of its output
current. Since normally a stepper motor is not fitted with a speed or position feedback device,
excessive load or acceleration/deceleration may prevent the motor rotor from accurately rotation with
the change in the phase sequence of current, thereby causing the so-called “out-of-step”.
Open-loop control is as shown in Figure 1-3.

Figure 1-3 Open-loop control

z Closed-loop control: The controlled variable of the control system is detected and transferred to
the controller by the feedback device to affect the output of the controller and thereby to change the
controlled variable. Closed-loop control is classified as full-closed loop control and semi-closed
loop control by the detection points. The feedback device’s direct detection of the controlled variable
and use of it for feedback is called full-closed loop control (e.g. Figure 1-4) and the position of the
gear is the controlled variable. The full-closed loop control over the position of the gearing is achieved
by using the grating mounted on the gearing as a position feedback device and the encoder for the
Gearing

servomotor as a speed feedback. In the absence of the grating, the encoder for the servomotor is
used as a position and speed feedback (see Figure 1-5). In this case, this is the semi-closed control
4
 Chapter 1 Summary

over a mechanical position.

Figure 1-4 Full-closed loop control

Figure 1-5 Semi-closed loop control

z PID Control: Also called PID regulation, it is the common algorithm used by the controller
for mathematical treatment of the input data (setting and feedback). “P” is the abbreviation of
“proportional” and refers to the linear proportional relationship between the input and output of a
controller. The bigger a proportional control factor is, the more sensitively the system will respond and
the smaller (cannot be completely eliminated) the steady state error will become. Excessive
proportional control factor leads to the disturbance and instability of the system. “I” stands for
“integral” and means the influence of controller input time integral upon output (input gradually affects
output). The bigger an integral time constant is, the more smoothly the system runs without steady
state error and the slower the system responds. “D” is the initial of “Differential”, indicating the
influence of input differential (the slope of input change). Differential control can forecast, produces
advanced correction, reduces following error and improves dynamic performance. Excessive
differential coefficient may cause system disturbance and instability. Proportional, integral and
differential controls influence each other. In a specific control system it is required achieve the
balance of the response speed, control accuracy and stability by adjusting the PID control parameters.
As differential control tends to produce impact and unsteadiness, the servo system described herein
employs PI control, i.e. only proportional and integral control.

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 GE2000 Series AC Servo Drive Unit User Manual

4. Glossaries with regard to Servo Control

The servo system is provided with three basic control modes: position control, speed control and
torque control. The block diagram of the system is as shown in Figure 1-6.
z Position control: The direction and angle of rotation of the motor are set by means of digital
pulse or data communication. The servo unit controls the motor rotor so that it rotates by a proper
angle in the given direction. Both the angle (position) and speed of rotation are controllable.
z Speed control: The direction and angle of rotation of the motor are set by means of analog
voltage or data communication. The servo unit controls the motor rotor so that it rotates in the given
direction at the given speed.
z Torque control: The amplitude and direction of the output torque of the motor are set by
means of analog voltage or data communication. The servo unit controls the direction of rotation and
output torque of the motor rotor.
The servo unit described herein currently does not receive any torque setting signal or provide
torque controlling mode.

Position Speed Current

controller controller controller
＋ Position ＋ Speed ＋ Current Power
Motor
adjustment adjustment adjustment amplification
Command －
－ Position －
position Speed feedback Current feedback
feedback signal signal signal PG

Figure 1-6 Block diagram of three-loop control

5. Indexes of Servo Performance

Characteristics of servo dynamic response: the response speed, dynamic control error and
steady-state control error. Figure 1-7 is the response characteristic diagram of the given step signal
from the servo signal (The solid line indicates given signal and dotted line the output signal from the
servo system in the following text.):

6
 Chapter 1 Summary

Figure 1-7 Servo dynamic response curve

Rise time tr: It refers to the time elapsed when the rotating speed output rises from zero to 90% of
steady state value R (t). It indicates the rapidity of dynamic response.
Adjustment time ts: The range within ±5% of the steady-state value taken near the steady-state
value of the step response curve is considered a permissible error band. The minimum time required
for the response curve to reach but not go beyond the error band is the adjustment time which is used
to measure the rapidity of the complete adjustment process of the unit.
Overshoot σ: It refers to the ratio of the maximum rotating speed difference (Rmax(t)-R (t)) between
rotating speed output and steady-state value to steady-state value R (t). It reflects the relative stability
of a servo unit and is as follows when indicated by percentage:

Rmax (t ) − R (t )
σ (%) = × 100%
R (t )

Steady-state error: The difference between the expected steady-state value and actual output of the
system after rotating speed becomes steady during system response.
Servo static performance: The most important for a servo control system is its stability. The key
static performance index of servo is positioning accuracy, which refers to the degree of deviation of
the actual state from expectation at the end of the system transition. The steady-state accuracy of
servo is subject to the error of position measuring appliance and system error and is related to the
structure and parameters of the system. Figure 1-8 is a position servo static curve graph.

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 GE2000 Series AC Servo Drive Unit User Manual

Figure 1-8 Position servo static curve

Following error: It refers to the difference between the displacement of workbench required by
command signal (command position) and its actual displacement. That is to say, Following error =
(Command position value) – (Actual position value)
Servo gain: It refers to the capability of a servo system’s resistance against the position deviation
resulting from load interference.

1.3 Receiving Inspection

1. When the goods is received, make sure to inspect the following items:
（1）Check that the packing case is integrate and no cargo is damaged in transport;
（2）Check that the received goods are those ordered against the nameplates on the
servo drive unit and servomotor;
（3）Check that the accessories are complete against the packing list.

Attentions
z Do not install a defective or incomplete servo unit;
z The servo drive unit shall be used in combination with a servomotor with matching
performance;
z Please contact your dealer or us for any question when the goods are received.
2. Description of Model Number

Code explanation

① “GE” series servo unit

② Voltage classes are represented with 1- digit, 2：220V；3：380V（reserved）；

③ Nominal current of power component is represented with 3-digit： 030, 045, 050,

8
 Chapter 1 Summary

075, 100（unit A）

Adaptive motor type is represented with 1-letter, T：adaptive to synchronous servo

④ motor; Y：adaptive asynchronous servo motor（reserved）；L：adaptive to linear
motor （reserved）

Communication bus code is represented with 1-letter, N ： pulse interface

⑤ （reserved）；L：GSK-Link bus；U：NCUC_BUS （reserved）；F：optical fiber bus
（reserved）；

Feedback（encoder）interface code is represented with 1-letter, P：adaptive to

incremental encoder；A：adaptive to multi-turn absolute without backup battery; B：
⑥
adaptive to absolute encoder with backup battery(memorize number of turn of
absolute encoder when power-off) .

Feedback(encoder) interface type, configuration code

⑥ ⑦ Feedback(encoder) interface type, configuration

Having a motor feedback input interface without the 2nd feedback input
1
interface, and be adaptive to an incremental encoder
P
Having two feedback input interfaces and be adaptive to an incremental
2
encoder (reserved)
Having a motor feedback input interface without the 2nd feedback input
1 interface and be adaptive to absolute encoder (be compatible with
A communication protocol Biss, Tamagawa, and automatically identifying them)
（B） Having two motor feedback input interfaces and be adaptive to absolute
2 encoder (be compatible with communication protocol Biss, Tamagawa, and
automatically identifying them) (reserved)

3. Model Number of Servomotor

The GE2000 series of bus-oriented AC servo drive Unit may be used in conjunction with many foreign
and domestic servomotors that can be selected by user in ordering. The Chapter 8 of this manual
offers the information on the SJT series of GSK. The information on other types of servomotors is
supplied with them.

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 GE2000 Series AC Servo Drive Unit User Manual

130 SJT － M Z 150 D（A□ Y□ X□ ）

None:Aviation socket type
X:Cable direct type
Machine model:

Shaft extension or installation config.#3

None:Standard shaft extension

AC synchronous
servo motor Y□:Special cylinder shaft extension
Z□:Special cone shaft extension
M:Photoelectric encoder S□:Stepping motor installation config.

None : Have no safe brake #1 ;

Z: Available
Encoder type
Zero-speed torque
A or None: Increment type 2500 p/r
For example, 150×10-1=15N·m. A2：Increment type 5000 p/r
A3:Increment split-type 2500 p/r
A：1000 r/min A4:Absolute type 17bit
B：1500 r/min A41:Danaher multi-turn 17bit absolute type
C：2000 r/min A4S1:Danaher single-turn 17bit absolute type
Rated speed
D：2500 r/min
E：3000 r/min

Note 1: The working power supply for the dead electromagnet brake is DC (0.9～1.1) ×24V and its connector a

3-pin socket whose Pin 1 and 2 are power inputs (not polarity specific) and Pin 3 is a ground terminal.

When Pin 1 and 2 are connected to power supply, the dead electromagnet brake does not function. When

they are disconnected from power supply, it operates for a duration less than or equal to 0.1s.
-1
Note 2: “150” indicates that its value consists of three digits 150×10 =15 in N·m.

Note 3: ‘□’ is a numeral code. See the installation diagram of the motor for the specific special shaft extension

indicated by a figure.

4. Accessories

Standard accessories for GE2000 servo drive unit

① User Manual (this manual) 1
② Mounting bracket 2
③ M4×8 countersunk head screws 4
④ Industrial BUS (GT17) 1 set (Note 1)
⑤ CN3 plug (MDR26 interface ) 1 set (Note 2)
⑥ The standard accessories of a servo motor will be supplied to its operation manual.
Note 1: Our Ethernet bus communication position control device is supplied with a CAT-5e UTP signal cable

(standard length: 3m); the industrial Ethernet bus type: IE-5CC4*2*AWG26/7-PUR（ manufacture:

Weidmuller） .

Note 2: A feedback cable (standard length: 3m) is available with our servomotor upon user’s request.

10
 Chapter 1 Summary

1.4 Product Appearance

1） Appearance of Servo Drive Unit

Install Standby battery of

absolute encoder
（see servo unit model）

Parameter number, and parameter

LED Monitor window value increase
Parameter number, and parameter
value decrease
Monitor all statuses, modify and Move circularly modified
manage parameters data bit
Return to previous menu or cancel
operation
Enter next menu or confirm
‘CHARGE’is high-pressure indicator on operation
main circuit of servo unit
ON：AC bus with high-pressure
‘POWER’is for control circuit power
OFF：AC bus is discharged completely
of servo unit
ON：control circuit ‘power is normal
Must not dismount, install servo unit, OFF：control circuit is loss
power wire, motor wire, brake resistance
wire when ‘CHARGE’ is ON

Wire terminal of main circuit

Ensure the product label and input

BUS1：Ethernet input interface
power’s voltage before wiring. The
motor is connected with U\V\W
BUS2：Ethernet output interface
according to wire terminal label.
CN1 ：Feedback input interface of
motor’s encoder
Grounding terminal of input
（26Pin high-density interface）
power ground, motor ground
Connect with incremental or absolute
encoder’s feedback input signal

2） Appearance of Servomotor

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 GE2000 Series AC Servo Drive Unit User Manual

Chapter 2 Installation

Attention
z The product shall be stored and installed in an environment meeting the requirements of the
specification.
z Do not stack up too many products as they are subject to damage under pressure and falling
down.
z The original package must be used for the storage and transport of the product.
z A damaged or incomplete product must not be installed and used.
z Always use fire-proof material for the installation of the product. Do not install it on or near
combustible materials to prevent fire.
z The servo drive unit must be installed in an electric cabinet in order to prevent dust, corrosive gas,
conductive substances and combustible matters from entering.
z The servo drive unit and servomotor shall be protected from vibration and impact.
z Never pull the motor cable, shaft and encoder.

2.1 Ambient Conditions

GE2000 series of servo drive
Item GSK SJT series of servomotors
Unit
0℃～40℃ (nonfreezing) -10℃～40℃ (nonfreezing)
Operating temp/humidity
RH<90% (noncondensing) RH<90% (noncondensing)
Storage and transport -20℃～70℃ -40℃～70℃
temp/humidity 90%RH (noncondensing) RH<85% (noncondensing)
In a control cabinet without Indoors (without direct sunlight) without
Atmospheric
corrosive or combustible gas, oil corrosive or combustible gas, oil mist,
environment
mist, dust, etc. dust, etc.
Elevation Altitude below 2000m Altitude below 2000m
Vibration < 0.5G（4.9m/s2）10 HZ～60HZ (discontinuous operation)
Level of protection IP20 IP54

2.2 Installation of Servo Drive Unit

Attention
z The servo drive unit must be installed in an electric cabinet properly protected (≥IP43).
z The servo drive unit must be installed in the direction with spacing as specified and provided with
good heat eliminating condition.
z It must not be installed on or near combustible materials to prevent fire.

1. Installation Environment

It must be installed in an electric cabinet (≥IP43) properly protected and protected from exposure
to corrosive and combustible gas and entry of conductive matters, metallic dust, oil dust and liquid.

2. Temperature/humidity

Ambient temperature: 0℃～50℃. For extended safe operation, the unit shall be installed in an
environment at altitude less than 2000m and temperature below 40℃ and protected with good
ventilation conditions.

12
 Chapter 1 Summary
3. Vibration and Impact

The drive unit shall be protected from vibration. Measures shall be taken to control vibration under
0.5(4.9m/s2) as the drive unit cannot bear any high pressure or impact.

4. Installation Procedure

1) Installation Means

182
90
6

CHARG POWE
E R
190
178±0.25

2-6
6 78±0.2
Figure 2-1 Appearance dimensions of GE2025T, GE2030T, GE2045T （unit: mm）

2-φ6 6
6

CHARGE POWER
218±0.25

230

100±0.2
2-R3 182
112
Figure 2-2 Appearance dimensions of GE2050T (unit: mm)

13
 GE2000 Series AC Servo Drive Unit User Manual
2-φ6

6
R

CHARGE POWER
258±0.25

270
2-R3

6 108±0.2 218
120

Figure 2-3 Appearance dimensions of GE2075T (unit: mm)

2-φ6
6

CHARGE POWER
293±0.25

305

2-R3

6 118±0.2 248.5
130

Figure 2-4 Appearance dimensions of GE2100T (unit: mm)

(2) Installation Space

GE series servo drive unit uses baseboard installation method, the installation direction is
vertical with the installation surface upright, the front of servo drive unit is ahead and its top is
upwards, which is conducive to heat dissipation, and a space as big as possible shall be kept

14
 Chapter 1 Summary
To prevent the surrounding temperature of servo drive unit from constantly rising, a radiator
should be installed in the cabinet to blow the servo drive unit.

Cabinet
Cabinet
Hot air
100mm

serie
s

Front

100mm

50mm
Wiring
Cool
space
air

Hot air

Figure 2-5 Installation spacing for GE2025T, GE2030T, GE2045T servo drive unit

Figure 2-6 Installation spacing for GE2050T servo drive unit

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 GE2000 Series AC Servo Drive Unit User Manual

Figure 2-7 Installation spacing for GE2075T servo drive unit

Up
Installation surface

Down

Figure 2-8 Installation spacing for GE2100T servo drive unit

Installation interval among servo drive units should be as possible as big to get excellent heat
dissipation condition.

16
 Chapter Two Installation

2.3 Installation of Servomotor

Installation and transportation environment of servo motor

Item Index
Working temperature 0℃～40℃
Storage and transportation -40℃～70℃
temperature
Working humidity 30%～95%（no condensation）
Storage and transportation ≤95%（40℃）
humidity
Atmospheric environment Without corrosive gas, inflammable gas, oil mist or dust and so on
in cabinet
Altitude Below 1000m

Note:
1. Must not hit motor or motor shaft when installing belt
pulley to prevent damaging internal encoder.
Must use screw-type press tool to dismount.
2. The servo motor cannot bear axial/radial load.
A flexible coupling joint should be connected to load.
3. A washer is used to fix the motor to prevent the motor from loosing.
4. The motor is installed at the position where there is waterproof,
and grease proofing because the cable in water or oil
may bring water or oil to the motor.

17
 GE2000 Series AC Servo Drive Unit User Manual

Chapter 3 Wiring

Carefully read and strictly abide by the following precautions which ensure your operating safety
and reliability.
„ The wiring shall be properly carried out by a well-trained and qualified technician by
Attention following the associated instruction.
„ Any wiring or repair work on the servo unit can be performed only when you make
sure the voltage-to-ground on all the terminals of the main circuit are safe five
minutes after it is disconnected from the servo unit. Otherwise it may cause an
electric shock.
„ Make sure the servo unit and servomotor are correctly grounded.
„ For wiring, do not damage the cable with a sharp object or forcibly pull it as it may
lead to electric shock or poor line contact.
„ Never extend connecting cables for the main circuit and signal cables through the
same conduct or bind them together. In wiring, the connecting cables for the main
circuit and signal cables shall be routed separately or crosswise with spacing over
30cm in order to prevent heavy-current lines from interfering the signal cables and
causing the malfunction of the servo unit.
„ Do not frequently turn on/off the power supply as the built-in high-capacity
capacitors in the servo unit generates high charging current during powering on and
frequent switching of the power supply may deteriorate the performance the
components in the servo unit. A switching interval of 3min or longer is advised.
„ Do not fit any additional power capacitor, surge arrester, wireless noise filter and
other devices between the servo unit output side and servomotor.

„ The wiring of the main circuit and signal cables shall be kept away from heat sink
and electric motor in order to prevent their insulating property from deterioration by
heating.
„ After the wiring of the main circuit, attach the terminal cover to avoid electric shock.

18
 Chapter 3 Wiring

3.1 Main Circuit Connection

1. Main circuit wiring of GE2000 series servo drive unit

3N 50HZ 220V ON
KA(ALM) OFF
MCCB
KM1
AC
FIL RC
PE
380V
TB Permanent-
220V 2 magnetic motor
U
KM1
K V 3
S MS 3
GE 2000 Series

T
W 4
PE
PE 1
r Motor’s
t grounding
Turn off B, B1 when point
it is connected with
external brake Encoder’s
resistance. CN3 feedback
signal
B, B1 are in short circuit
B
without external brake
resistance. B1 KA
HOLD1
P CN5 24V
HOLD2
Brake resistance
0V
Fig. 3-1 Main circuit wiring of GE2000 series servo drive unit

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 GE2000 Series AC Servo Drive Unit User Manual

Figure 3-2 Standard wiring for position and speed control modes when an incremental
encoder is provided

20
 Chapter 3 Wiring

NFB MC Motor
3-phase AC220V R U 2
or single
AC220V S Servo drive unit V 3
-phase T W 7
PE 1
r
t
Absolute
encoder
19 5V
BRX- 4 20 5V VCC 5
BRX+ 5 21 5V GND 3
BTX+ 6 CN1 18 NC EB 13
BTX- 7 15 0V 4
16 0V 7
17 0V 9
CN3 4 NC 10
ARX+ 4 25 SD+ SD+ 6
ARX- 5 26 SD- SD- 2
ATX- 6 CN2 3.6V 8
14
ATX+ 7 11
14
12
HOLD1 1 Shell FG 10
CN5 1
HOLD2 2 FG

Figure 3-3 Standard wiring for position and speed control modes when a Tamagawa absolute
encoder is provided
NFB MC Motor
3-phase AC 220V R U 2
or single
AC 220V S Servo drive unit V 3
-phase T W 7
PE 1
r
t

Absolute encoder

19 5V
BRX- 4 20 5V VCC 2
BRX+ 5 21 5V GND 3
BTX+ 6 CN1 5V 8
BTX- 7 15 0V 4
16 0V 7
17 0V 9
CN3 0V 5
25 SD+ SD+ 13
ARX+ 4 26 SD- SD- 10
ARX- 5 CK+ CK+ 15
23
ATX- 6 CN2 CK- 12
ATX+ 7 24 CK-
14
6
FG 10
HOLD1 1 CN5 FG 1
Shell FG
HOLD2 2

Figure 3-4 Standard wiring for position and speed control modes when a Danaher absolute encoder
is provided

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 GE2000 Series AC Servo Drive Unit User Manual

3.2 Functions of Terminals

1. Terminal Configuration

Configuring the terminals on the drive unit and incremental encoder motor is shown in the following
Fig.3-5:

CN3

1 14
W 2 15 GND
W- 3 16 GND
V 4 17 GND
V- 5 18
U 6 19 VCC
U- 7 20 VCC
Z 8 21 VCC
Z- 9 22
B 10 23
B- 11 24
A 12 25
A- 13 26

MDR26

Figure 3-5 Diagram of configuring the terminals on the drive unit and incremental encoder
motor
Configuration between servo drive unit and interface terminal of motor with absolute encoder is
shown in Fig. 3-6 and Fig.3-7:

CN3

1 14 3.6V
2 15 GND
3 16 GND
4 17 GND
5 18
6 19 VCC
7 20 VCC
8 21 VCC
9 22
10 23
11 24
12 25 SD
13 26 SD-

MDR26

Fig. 3-6 Configuration between servo drive unit and interface terminal of Tamagawa absolute

22
 Chapter 3 Wiring

encoder

Fig. 3-7 Configuration between servo drive unit and interface terminal of Danaher absolute
encoder

Fig. 3-8 Communication terminal configuration

2. Communication terminal CN1

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 GE2000 Series AC Servo Drive Unit User Manual

Table 3-2 control signal input/output terminal CN1

Terminal
Signal name Sign I/O Mode Function
No.
CN1-4 BRX- Bus differential data receiving
Type 4
CN1-5 BRX+ Bus differential data receiving
CN1-6 BTX+ Bus differential data sending
Type 4
CN1-7 BTX- Bus differential data sending

3. Communication terminal CN2

Table 3-3 control signal input/output terminal CN2

Terminal
Signal name Sign I/O Mode Function
No.
CN2-4 ARX+ Bus differential data receiving
Type 4
CN2-5 ARX- Bus differential data receiving
CN2-6 ATX- Bus differential data sending
Type 4
CN2-7 ATX+ Bus differential data sending
Brief Description of Bus Communication:
Control terminals CN1 and CN2 are the connection network created by the control device and
servo in order to compose a closed loop of Ethernet transfer. The data transferred through Ethernet
includes periodic and non-periodic data. Periodic data is transferred once per Interpolation period and
non-periodic data in idle time.
a) Periodic data: It refers to Master Data Telegram (“MDT”). A CNC sends system control
commands and position/speed/torque data to a servo while the latter transfers the current position
information and the current key state of the servo to the CNC through a bus.
The format of the data sent by CNC --- 12 bytes:
Length of periodic data (10 bytes )
16bits 16bits 8 bytes
Control word Position/speed/torque data Reserved

The format of the MDT control words send by CNC:

Format of control words sent by the system(16bits)

Control bit Meaning Remarks
Bit0 To enable a servo “1” is valid.
Bit1 To clear an alarm “1” is valid.
Bit2 To disable CCW “1” is valid.
Bit3 To disable CW “1” is valid.
Bit4 To zero position deviation “1” is valid.

24
 Chapter 3 Wiring

Bit5 To disable command pulse “1” is valid.

Bit6-Bit7 Reserved
Bit8 To enable zeroing “1” is valid.
Bit9-Bit10 Reserved .
Bit11 Servo data acquisition “1” is valid
Bit12-Bit15 Reserved

The format of the MDT data send by the incremental servo unit—12 bytes:

Length of periodic data (12 bytes )

16bits 32bits 32bits 16bits
Control word Current incremental position Z pulse position in Reserved
information zero return

The format of the MDT control words send by the absolute servo unit-12 bytes:

Length of periodic data (12 bytes )

16bits 32bits 32bits 16bits
Control word Current incremental position Single-circle absolute multi-circle absolute
information position position

The format of the MDT control words send by the servo unit:

The format of the control words send by the servo (16bits)

Control bit Meaning Remarks
Bit0 Servo ready. “1” is valid.
Bit1 alarm output “1” is valid.
Bit2 Positioning complete/speed “1” is valid.
arrival
Bit3 Z pulse signal “1” is valid.
Bit4-bit10 Servo alarm number 7 bits: Max. alarm No. 32 indicates (000 0001
1111 0000 B) (the first bit being 1 means an
alarm occurs)
Bit11-Bit12 Reserved
Bit13 Run stop symbol in position “1” is valid
mode

25
 GE2000 Series AC Servo Drive Unit User Manual

Bit14--15 Reserved

b) Non-periodic data: It refers to a general data telegram (“GDT”) that comprises control
words and data. The functions of a non-periodic data in final version include: setting of
Ethernet communication parameters, setting and change of servo parameters, allowing a
servo to save the current change in parameters, reception of servo parameters, reception of
servo diagnostic messages, etc;
c) Determination of the axes X, Y and Z of a servo drive unit:

Servo unit
Slave station 1

Cat-5e UTP
Servo unit
Slave station 2
Master station
of CNC system

Servo unit
Slave station n

Servo unit
Slave station

Figure 3-9 Diagram of connecting a CNC to servo Unit

The servo connecting the bus interface 2 of the CNC (i.e. CN2 of CNC) to the servo CN1 (GT 17
interfaces) is the first axis (Axis X). The servo connecting CN2 (GT17 interface) back to the bus
interface 1 of the system (i.e. CN1 of CNC) is the last axis.

4. Feedback signal terminal CN1------Feedback signal from an incremental encoder

Table 3-4 Signal input/output terminal CN3 of encoder

Terminal Terminal marking Color Functions

Signal designation
No. Marking I/O Mode

CN3-19 The photoelectric encoder for the

CN3-20 servomotor uses +5V power supply.

Power output + +5V
CN3-21 For a long cable, connect several core

CN3-21 wires in parallel.

26
 Chapter 3 Wiring

CN3-15

CN3-16 Power output - GND

CN3-17

Connecting the A+ of the photoelectric

CN3-12 Encoder A＋input A+
encoder for the servomotor
Type4
Connecting the A- of the photoelectric
CN3-13 Encoder A－input A-
encoder for the servomotor

Connecting the B+ of the photoelectric

CN3-10 Encoder B＋input B+
encoder for the servomotor
Type4
Connecting the B- of the photoelectric
CN3-11 Encoder B－input B-
encoder for the servomotor

Connecting the Z+ of the photoelectric

CN3-8 Encoder Z＋input Z+
encoder for the servomotor
Type4
Connecting the Z- of the photoelectric
CN3-9 Encoder Z－input Z-
encoder for the servomotor

Connecting the U+ of the photoelectric

CN3-6 Encoder U+input U+
encoder for the servomotor
Type4
Connecting the U- of the photoelectric
CN3-7 Encoder U-input U-
encoder for the servomotor

Connecting the V+ of the photoelectric

CN3-4 Encoder V+input V+
encoder for the servomotor
Type4
Connecting the V- of the photoelectric
CN3-5 Encoder V-input V-
encoder for the servomotor

Connecting the W+ of the

CN3-2 Encoder W+input W+ photoelectric encoder for the

Type4 servomotor

Connecting the W- of the photoelectric

CN3-3 Encoder W-input W-
encoder for the servomotor

5. CN1 feedback signal terminal –Feedback signal from Tamagawa 17-bit absolute encoder

Table 3-5 CN3 Signal Input/output Terminals of Tamagawa 17-bit Absolute Encoder

Terminal Terminal marking

Signal designation Color Functions
No. Marking I/O Mode

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 GE2000 Series AC Servo Drive Unit User Manual

CN3-19

CN3-20 Power output + +5V The absolute encoder for the

CN3-21 servomotor uses +5V power supply.

CN3-15 For a long cable, connect several core wir

CN3-16 Power output - GND in parallel.

CN3-17

Connecting the A+ of the photoelectric

CN3-25 Encoder SD+1nput SD+
encoder for the servomotor
Type4
Connecting the A- of the photoelectric
CN3-26 Encoder SD- input SD-
encoder for the servomotor

The absolute encoder for the

servomotor uses +3.6V power supply to

maintain the data of several loops. For a

CN3-14 long cable, connect several core wires

Battery input ＋ +3.6V
in parallel. If the servo unit is not

powered on for an extended period of

time, the data of several loops is subject

to loss due to low battery voltage.

Table 3-6 CN3 Signal Input/output Terminals of Danaher 17-bit Absolute Encoder

Terminal Terminal marking

Signal designation Color Functions
No. Marking I/O Mode

CN3-19
CN3-20 Power output+ +5V The absolute encoder for the
CN3-21 servomotor uses +5V power supply.
CN3-16 For a long cable, connect several core
CN3-17 Power output - GND wires in parallel.
CN3-18
Connecting the CK- of the photoelectric
CN3-24 Encoder CK－input CK－
encoder for the servomotor
Type4
Connecting the CK+ of the photoelectric
CN3-23 Encoder CK＋input CK＋
encoder for the servomotor
Connecting the SD+ of the photoelectric
CN3-26 Encoder SD－input SD－ Type4
encoder for the servomotor
Connecting the SD- of the photoelectric
CN3-25 Encoder SD＋input SD＋
encoder for the servomotor

28
 Chapter 3 Wiring

Connecting the B- of the photoelectric

Shell Shield earth wire EARTH
encoder for the servomotor

6. HOLD signal terminal CN5

Terminal number Signal name Explanation

CN5-1 HOLD output terminal 1 HOLD output signal is performed without concerning the sign+/-
CN5-2 HOLD output terminal 2 HOLD output signal is performed without concerning the sign+/-

3.3 I/O Interface

1. Input Interface of Incremental Photoelectric Encoder for Servomotor

Motor side Drive unit side

X+
X-
AM26LS32

Figure 3-10 Input Interface of Incremental Photoelectric Encoder for Servomotor

2. Input Interface of Absolute Photoelectric Encoder for Servomotor

Motor side Drive unit side

Figure 3-11 Input Interface of Absolute Encoder for Servomotor

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 GE2000 Series AC Servo Drive Unit User Manual

Chapter 4 Parameters

Attention
z Each personnel involved in parameter adjustment shall understand the meaning of
parameters as incorrect setting may cause equipment damage and personal injury.
z It is recommended to adjust the parameters when the servomotor is idling.
z The motor parameters are adaptive to GSK SJT and Huazhong ST series of servomotors. To
use other servomotors, it is required to adjust the relevant parameters. Otherwise the motor
will not operate normally.

4.1 Summary of Parameters

z The delivery settings in the following table are adaptive to the drive unit of GSK 110SJT-M040D
(4N.m, 2500rpm) motor as an example. The relevant parameters vary with motors.
z The current software version is V1.02 – for servomotors with incremental encoder.

Table 4-1 Summary of Parameters

S/N Name Applicable Range of Delivery Unit

mode parameter setting
0 Password P, S 0~9999 315
1 Model code P, S 0~78 60
2 Software version (read-only) P, S * *
3 Initial display status P, S 0~21 0
4 Selection of control mode P, S 0~5 0
5 Proportional gain of speed P, S 5~2000 240* Hz
6 Integral time constant of speed P, S 1~1000 25* ms
7 Torque command filter P, S 1~500 100 %
8 Low pass filter for speed detection P, S 1~500 120 %
9 Proportional gain of position P 1~1000 40 1/S
10 Feedforward gain of position P 0~100 0 %
11 Cut-off frequency of positional P 1~1200 300 Hz
feedforward low-pass filter
12 Numerator of position command P 1~32767 1

30
 Chapter 5 Alarms and Remedies

countdown
13 Denominator of position command P 1~32767 1
countdown
14 Reserved
15 Reversal of position command P 0~1 0
countdown
16 Positioning range P 0~30000 20 Pulse
17 Range of position out-of-tolerance P 0~30000 200 ×100
detection pulse
18 Erroneous and invalid position P 0~1 0
out-of-tolerance
19 Position command smoothing filter P 0~30000 0 0.1ms
20 Invalid drive disabling input P, S 0~1 0
21 Speed of JOG operation S -3000~3000 120 rpm
22 Selection of internal and external S 0~4 0
commands
23 Limitation of maximum speed P, S 0~4000 3000 rpm
24 Internal speed 1 S -3000~3000 0 rpm
25 Internal speed 2 S -3000~3000 100 rpm
26 Internal speed 3 S -3000~3000 300 rpm
27 Internal speed 4 S -3000~3000 -100 rpm
28 Arriving speed S 0~3000 500 rpm
29 Contracting brake release signal delay P, S 0~1000 4 4*10ms
30 Numerator of linear speed conversion P, S 1~32767 10
31 Denominator of linear speed conversion P, S 1~32767 1
32 Position of decimal point in linear speed P, S 0~5 3
Stoppage delay time of contracting P, S 0~1000 10 10*10ms
33
brake
34 Limitation of internal CCW torque P, S 0~300 300* %
35 Limitation of internal CW torque P, S -300~0 -300* %
36 Limitation of external CCW torque P, S 0~300 100 %
37 Limitation of external CW torque P, S -300~0 -100 %
Torque limitation of speed trial operation S 0~300 100 %
38
and JOG operation
39 V2.04--Reserved;

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 GE2000 Series AC Servo Drive Unit User Manual

V3.00---Writing-in of drive unit type P, S 0~100 0

40 Acceleration time constant S 1~10000 0 ms
41 Deceleration time constant S 1~10000 0 ms
42 Return to reference point P -32767~32767 0
43 Backlash compensation amount P 0~100 0 um
Acceleration/deceleration time of P 5~100 5 200us
44
backlash
Acceleration/deceleration compensation P 0~1 0
45
enabling of backlash
Enabling for servo parameter P，S 0~1 0
46
optimization
47 Rigid level parameter P，S 0~10 0
48 Servo optimization coefficient 1 P，S -32767~32767 0
49 Servo optimization coefficient 2 P，S -32767~32767 0
50 Servo data collection selection P，S 0~3 0
Stop vibration suppression function P，S 0～2 0
53
selection
54 Stop judging pulse P，S 0～32767 0
55 The 2nd position gain P 1～1000 102 1/S
56 The 2nd speed gain P，S 5~2000 200 Hz
57 The 2nd speed integral time constant P，S 1~1000 20 ms
Note: Current servo software version matched with the absolute encoder is V3.01.

4.2 Functions of Parameters

Table 4-2 Functions of Parameters

Range of
S/N Name Function
parameter
Password ①The parameter is used to prevent the parameters from
accidental alteration. To change a parameter, normally change
the password to the required password and then set the
parameter. After adjustment, finally set this parameter to 0 in
0 0~9999
order to prevent the parameters from accidental alteration.
②Different password levels correspond to user, system and all
parameters.
③The change of the Model code parameter (PA1) requires the

32
 Chapter 5 Alarms and Remedies

use of a Model code password. Other passwords cannot be

used change the parameter.
④User password: 315.
⑤Model code password: 385.
Model code ①Different model codes correspond to the Drive Unit and motors
at different power levels in the same series.
②Different model codes correspond to different default
parameter settings. Always ensure the correctness of this
parameter while using the default parameter recovery function.
③In the event of EEPROM alarm (No. Alarm 20), make sure to
1 set this parameter again and then recover the default
0~78
parameter. Otherwise the drive unit may operate abnormally or
become damaged.
④To change the parameter, first set the password PA0 to 385 and
then modify this parameter.
⑤ Refer to Section 4.3 of this chapter for the check list of motor
models and codes.
Software ① The version number of the software may be reviewed but not
version changed.
2 *
(read-only) ② Meaning of the parameter: b1.02—incremental type, V1.02;
C3.02—absolute type, V3.02;
Initial ① To select the display status of the display when the drive unit is
display powered on
status 0: To display the rotating speed of the motor;
1: To display the lower 5 digits of current position;
2: To display the upper 5 digits of current position;
3: To display the lower 5 digits of position command (command
pulse accumulation);
3 4: To display the upper 5 digits of position command (command 0~24
pulse accumulation);
5: To display the lower 5 digits of position deviation;
6: To display the upper 5 digits of position deviation;
7: To display the torque of the motor;
8: To display the current of the motor;
9: To display a linear speed;
10: To display control modes;

33
 GE2000 Series AC Servo Drive Unit User Manual

11: To display the frequency of position command pulse;

12: To display a speed command;
13: To display a torque command;
14: To display the absolute position of the rotor in a revolution;
15: To display the state of input terminal;
16: To display the state of the output terminal;
17: To display the input signal of the encoder;
18: To display the operating state;
19: To display alarm codes;
20: To display radiator’s temperature
22: To display the last upgrading data of DSP software;
23: To display FPGA version;
24; Reserved.
Selection of ① It is possible to set the control mode of the drive unit through
control this parameter:
mode 0: Position control mode;
1: Speed control mode;
2: Trial operation control mode;
3: JOG control mode;
4: Encoder zeroing mode;
5: Open-loop operating mode (for test of motor and encoder);
② Position control mode: Position command data is input through
a bus;
Speed control mode: Speed command is selected through
4 0~5
PA22 parameter (see PA22 for details);
③ Trial operation control mode; Speed commands are input
through a keyboard to test the drive unit and motor.
JOG control mode is known as inching mode. After entering
JOG operation, the motor runs at JOG speed when the ↑ key is
pressed and held, and stops and maintains at zero speed when
the key is released. The motor runs inversely at JOG speed when
the ↓ key is pressed and held, and stops and maintains at zero
speed when the key is released.
④Encoder zeroing mode: It is used to set the encoder to zero
before shipping the motor.
5 Proportional ①The parameter is used to set the proportional gain of the speed 5 Hz

34
 Chapter 5 Alarms and Remedies

gain of the 1st ring adjuster. ~2000Hz

speed ②The bigger the setting is, the higher the gain and rigidity and
the smaller the speed overshooting during acceleration and
deceleration will be. The setting of the parameter depends on
the specific model number and load of the drive system. As a
general rule, the setting declines with the increase of load
inertia.
③ It shall be set as big as possible provided that the system
does not produce any disturbance.
Integral ①The parameter is used to set the integral time constant of the
time speed ring adjuster.
constant of ② The smaller the setting is, the higher the integral speed and
st
the 1 rigidity will be. The setting of the parameter depends on the
6 1 ms~1000ms
speed specific model number and load of the servo drive system. As a
general rule, the setting rises with the increase of load inertia.
③It shall be set as small as possible provided that the system
does not produce any disturbance.
Torque ①It is used to limit the current command frequency band and
command suppress the resonance caused by torque (the motor produces
filter sharp vibration noise) so that current response becomes
smooth.
② Reduce the parameter if the motor makes sharp vibration
noise;
③The smaller the setting is, the lower the cut-off frequency, the
7 better the filtering effect and the lower the noise produced by 1%~500%
the motor will be. In case of high load inertia, it is possible to
appropriately reduce the setting. Excessively small setting may
slow down response and cause instability.
④The bigger the setting is, the higher the cut-off frequency and
the faster the response will be. It is possible to appropriately to
increase the setting if relatively high mechanical rigidity is
required.
Low pass ①The parameter is used to set the characteristics of the low-pass
filter for filter for speed detection.
8 1%~500%
speed ②The smaller the setting is, the lower the cut-off frequency, the
detection better the filtering effect and the lower the noise produced by

35
 GE2000 Series AC Servo Drive Unit User Manual

the motor will be. In case of high load inertia, it is possible to

appropriately reduce the setting. Excessively small setting may
slow down response, increase speed fluctuation and cause
disturbance.
③The bigger the setting is, the higher the cut-off frequency and
the faster the response will be. It is possible to appropriately to
increase the setting if relatively high mechanical rigidity is
required.
Proportional ①The parameter is used to set the proportional gain of the
gain of the position ring adjuster.
st
1 position ②The gain and rigidity increase with the setting. Under the same
frequency command pulse condition, the position lag becomes
9 1~1000 /s
less but excessive setting may cause disturbance or
overshooting.
③The setting of the parameter depends on the version and load
of the servo drive system.
Feedforward ①The parameter is used to set the feedforward gain of the
gain of position ring.
position ②When it is set to 100%, it indicates that the position lag is
always 0 under the command pulse at any frequency.
③When the feedforward gain of the position ring rises, the
10 0~100％
high-speed response of the control system is improved but this
may lead to the instability of position ring of the system and
tend to cause disturbance.
④The feedforward gain of the position ring is generally 0 unless
very high response characteristics are required.
Cut-off
frequency of
①This parameter is used to set the cut-off frequency of the
positional 1 Hz
11 low-pass filter for the position feedforward quantity.
feedforward ~1200Hz
②This filter is intended to improve the compound position control.
low-pass
filter
Numerator of ①This parameter is used to set the frequency division and
position multiplication of command pulse (electronic gear).
12 1~32767
command ②In position control mode, it is very easy to be adaptive to all
countdown pulse sources by setting the PA12,PA13 parameter in order to

36
 Chapter 5 Alarms and Remedies

achieve the optimal control resolution (i.e. angle/pulse) of user.

③ P × G = N × C × 4 ---incremental
P × G = N × C ---absolute
P: Pulse number of input command;
G: Electronic gear ratio:

Numerator of frequency division

G=
Denominato r of frequency division

N: Number of rotations of motor;

C: Number of lines of photoelectric encoder/rotation, V1.02
incremental C＝2500;
V3.02 and V3.02 with Tamagawa 17-bit absolute encoder C＝
217＝131072
④ 〖Example〗 Calculation of the gear ratio for V1.02: When the
input command pulse is 6000, the servomotor rotates by one
turn
N × C × 4 1 × 2500 × 4 5
G= = =
P 6000 3
Then Parameter PA12 is set to 5 and PA13 to 3.
⑤ Calculation of the gear ratio for V3.02: When the input
command pulse is 6000, the servomotor rotates by one turn
N × C × 4 1 × 131072 8192
G= = =
P 6000 375
Denominato
r of position
13 ① See Parameter PA12. 1~32767
command
countdown
Reversal of
① It is set to
position
15 0: Normal; or 0~1
command
1: Reverse pulse direction of position command
countdown
Positioning ①This parameter is used to set the range of positioning pulse
range under position control.
②This parameter provides the basis for the drive unit to judge 0~30,000
16
whether positioning is completed in position control mode. pulses
When the remaining pulse number in the position deviation
counter is less than or equal to the setting of the parameter, the

37
 GE2000 Series AC Servo Drive Unit User Manual

drive unit onsiders that the positioning has been completed.

The positioning completion signal is COIN ON. Otherwise it is
COIN OFF.
③The output positioning completion signal is COIN in the position
control mode and the output speed reaching signal SCMP.
Range of ①This parameter is used to set the range of position
position out-of-tolerance alarm detection
out-of-tolera ②In the position control mode, the servo drive unit gives a 0~30000
17
nce position out-of-tolerance alarm when the count value of the ×100 pulses
detection position deviation counter goes beyond the setting of this
parameter.
Erroneous
and invalid ① 0: The position out-of-tolerance alarm detection is enabled.
18 0~1
position out- 1: The position out-of-tolerance alarm detection is disabled.
of-tolerance
Position ①Command pulses are smoothed. The acceleration and
command deceleration are in exponential form. The numerical value
smoothing indicates a time constant.
filter ②The filter is not subject to loss of input pulse but command
delay.
③The filter is used when
z A host controller has no acceleration and deceleration 0~30000×0.1
19
functions; （ms）
z The frequency division and multiplication of the electronic
gear are high (>10);
z The command frequency is low;
z The motor is subject to step leaping and instability during
operation;
④ When it is set to 0, the filter does not work.
Invalid drive ① 0: CCW and CW input disabling is active. When the CCW
disabling drive disabling switch (FSTP) is turned ON, CCW drive is
input allowed. When the CCW drive disabling switch (FSTP) is
20 turned OFF, the torque in CCW direction is 0. The same goes 0~1
for CW.
If both CCW and CW drive disabling switches are turned off, a
drive disabling input error alarm will be given.

38
 Chapter 5 Alarms and Remedies

1: CCW and CW input disabling is deactivated. CCW and CW

drives are allowed irrespective of the state of CCW and CW
drive disabling switches. At the same time, a drive disabling
input error alarm will not be given if both CCW and CW drive
disabling switches are turned off.
Speed of
①This parameter is used to set the running speed of JOB -3000 rpm
21 JOG
operation. ~3000rpm
operation
Selection of ① When it is set to 0, the speed command is bus entry;
internal and ② When it is set to 1, the speed command is Internal speed 1;
22 external ③ When it is set to 2, the speed command is Internal speed 2; 0~4
commands ④ When it is set to 3, the speed command is Internal speed 3;
⑤ When it is set to 4, the speed command is Internal speed 4;
Limitation of ①It is used to set the upper speed limit of the servomotor.
maximum ②It is independent of direction of rotation. 0 rpm ~
23
speed ③If the setting goes beyond the rated rotating speed, the actual 3000 rpm
maximum speed limit the rated rotating speed.
Internal ① This parameter is used to set Internal speed 1 -3000 rpm
24
speed 1 ② See PA22. ~3000 rpm
Internal ① This parameter is used to set Internal speed 2 -3000 rpm
25
speed 2 ② See PA22. ~3000 rpm
Internal ① This parameter is used to set Internal speed 3 -3000 rpm
26
speed 3 ② See PA22. ~3000 rpm
Internal ① This parameter is used to set Internal speed 4 -3000 rpm
27
speed 4 ② See PA22. ~3000 rpm
Arriving ①It is used to set the arriving speed.
speed ②In a non-position control mode, it is set to SCMP ON if the
motor speed exceeds the setting. Otherwise it is set to SCMP
0 ms ~
28 OFF.
3000rpm
③This parameter is not used in position control mode.
④It is independent of direction of rotation.
⑤The comparator has lagging characteristics.
Contracting ① When the drive unit is enabled (SON is ON), the contracting
brake brake release signal will delay the output by following the 0 ms
29
release delay time set by the parameter in order to ensure that the ~1000ms
signal delay contracting brake motor will release the contracting brake unit

39
 GE2000 Series AC Servo Drive Unit User Manual

only after it is energized and excited and that the workbench

will not drop.
② The parameter setting must not be too long; otherwise the
motor cannot operate by following the command and even
cause a position out-of-tolerance alarm due to the delayed
release of the motor contracting brake when SON is set to
ON. Therefore the parameter shall be set to a small setting as
far as possible provided that the workbench does not drop.
Numerator ① This parameter is used to indicate the linear running speed of
of linear the system.
speed ②
conversion Linear speed =
Numerator of linear speed conversion
Motor speed (rpm) ×
Denominato r of linear speed conversion
③The decimal point of linear speed depends on the setting of
Parameter PA32. “0” means that there is no decimal point, “1” it
30 1~32767
is in tens place, “2” in hundred's place and so on.
④〖Example〗If the servo motor drives a 10mm ball screw, the
numerator of linear speed conversion is set to 10, denominator
of linear speed conversion to 1 and the decimal point of linear
speed is 3. The linear speed may be displayed on the monitor
in m/min. When the speed of the motor is 500rpm, its linear
speed is indicated by 5.000m/min.
Denominator
of linear
31 ① See Parameter PA30。 1~32767
speed
conversion
Position of
decimal
32 ① See Parameter PA30。 0~5
point in
linear speed
Stoppage ①For the motor with a contracting brake unit, when the system
delay time cancels the enabling signal, the drive unit continues to excite
of the motor for some time to ensure that the motor contracting 0-2000
33
contracting brake fully arrests the motor rotor before stopping the excitation （ms）
brake of the motor.
②Delay time=Setting*4ms。

40
 Chapter 5 Alarms and Remedies

Limitation of ①This parameter is used to set the internal torque limit in the
internal CCW direction of the servomotor.
CCW torque ②The setting is a percentage of the rated torque. For example, if
it is set to twice the rated torque, the setting is 200.
34 0-300%
③The limitation is active at any time.
④If the setting is over the maximum overloading capacity of the
system, the actual torque limit is the permissible maximum
overloading capacity of the system.
Limitation of ①This parameter is used to set the internal torque limit in the CW
internal CW direction of the servomotor.
torque ②The setting is a percentage of the rated torque. For example, if
it is set to twice the rated torque, the setting is 200.
35 -300%~0
③The limitation is active at any time.
④If the setting is over the maximum overloading capacity of the
system, the actual torque limit is the permissible maximum
overloading capacity of the system.
Limitation of ①This parameter is used to set the external torque limit in the
external CCW direction of the servomotor.
CCW torque ②The setting is a percentage of the rated torque. For example, if
it is set to one time the rated torque, the setting is 100.
36 ③The limitation is active only when the CCW torque limit input 0~300%
terminal (FIL) is ON.
④When the limitation is active, the actual torque limit is the
smallest of the maximum overloading capacity of the system,
internal CCW torque limit and external CCW torque limit.
Limitation of ①This parameter is used to set the external torque limit in the
external CW CW direction of the servomotor.
torque ②The setting is a percentage of the rated torque. For example, if
it is set to one time the rated torque, the setting is 100.
③The limitation is active only when the CW torque limit input
37 -300%~0
terminal (RIL) is ON.
④When the limitation is active, the actual torque limit is the
smallest of the absolute values of the maximum overloading
capacity of the system, internal CW torque limit and external
CW torque limit.
38 Torque ①This parameter is used to set the torque limit in the speed trial 0~300%

41
 GE2000 Series AC Servo Drive Unit User Manual

limitation of operation and JOG operating modes.

speed trial ②It is active in both directions and independent of direction of
operation rotation.
and JOG ③The setting is a percentage of the rated torque. For example, if
operation it is set to one time the rated torque, the setting is 100.
④The limitation on the internal and external torques is still active.

39 Reserved

Acceleration ①The setting is the time elapsed when the motor accelerates
time from 0 to 1,000rpm.
constant ②The acceleration and deceleration characteristics are linear.
1 ms
40 ③It is only applicable to speed control mode and invalid for
~10000ms
position control mode.
④This parameter must be set to 0 when the drive unit is used in
combination with an external position ring.
Deceleration ①The setting is the time elapsed when the motor decelerates
time from 1,000rpm to 0.
constant ②The acceleration and deceleration characteristics are linear. 1 ms~
41 ③It is only applicable to speed control mode and invalid for 10000ms
position control mode.
④This parameter must be set to 0 when the drive unit is used in
combination with an external position ring.
Return to Store the previous run direction of the machine used to the
-32767～
42 reference backlash of absolute servo’s initial power-on, generally cannot be
32767
point set by manual operation
Backlash
43 compensation Backlash value when the machine runs reversely. um
value
Acceleration/
deceleration
The faster backlash is, the shorter the compensation time is, the
44 time of *200us
least setting value is 1ms;
backlash
compensation
Backlash
45 compensation 0: not use backlash compensation function; 1: do
enabling

42
 Chapter 5 Alarms and Remedies

Enabling for
0：invalid；1: valid；
servo
46 The parameter is set by the parameter and cannot be modified by 0～1
parameter
user.
optimization
Rigid level
It is used to improve the parameter’s debugging speed, is used
47 parameter 0～9
by the system with matched bus, and cannot be set on the servo.

Servo
It is used to improve the servo’s respond speed, is used by the -32767~32
48 optimization
system with matched bus, and cannot be set on the servo. 767
parameter 1
Servo
It is used to improve the servo’s respond speed, is used by the -32767~32
49 optimization
system with matched bus, and cannot be set on the servo. 767
parameter 2
Servo data
collection It is set to resolve actual machining problems and is used by the
50 selection 0～3
system with matched bus.

Stop
vibration The function reserves parameters. Currently, it is only used to
45~
suppression stop vibration suppression of absolute servo on the machine with
54 function small static friction.
The 2nd
position Its function is the same that of item 6, and is used to drill and
55 proportional 1～1000
rapidly position.
gain

The 2nd
speed Its function is the same that of item 5, is used to drill and rapidly
56 proportional 5～2000
position, and is used for V1.03/3.03.
gain

The 2nd
speed Its function is the same that of item 6, is used to drill and rapidly
57 1～1000
integral time position, and is used for V1.03/3.03.
constant

4.3 Checklist of Model Numbers and Specification of Motor

Table 4-3 Checklist of No.1 Parameter and SJT Series 2500-Line Incremental Servo Motors

№1 Parameter Model numbers and Specification of Servomotors

55 80SJT-M024C，0.5kW, 220V, 2000 r/min, 3A, 0.83×10-4kg.m2
56 80SJT-M024E，0.75kW, 220V, 3000 r/min, 4.8A, 0.83×10-4kg.m2

43
 GE2000 Series AC Servo Drive Unit User Manual

57 80SJT-M032C，0.66kW, 220V, 2000 r/min, 5A, 1.23×10-4kg.m2

58 80SJT-M032E，1.0kW, 220V, 3000 r/min, 6.2A, 1.23×10-4kg.m2
59 110SJT-M040D，1.0kW, 220V, 2500 r/min, 4.5A, 0.68×10-3kg.m2
60 110SJT-M040E，1.2kW, 220V, 3000 r/min, 5A, 0.68×10-3kg. m2
61 110SJT-M060D，1.5kW, 220V, 2500 r/min, 7A, 0.95×10-3kg. m2
62 110SJT-M060E，1.8kW, 220V, 3000 r/min, 8A, 0.95×10-3kg. m2
63 130SJT-M040D，1.0kW, 220V, 2500 r/min, 4A, 1.19×10-3kg. m2
64 130SJT-M050D，1.3kW, 220V, 2500 r/min, 5A, 1.19×10-3kg. m2
65 130SJT-M060D，1.5kW, 220V, 2500 r/min , 6A, 1.95×10-3kg. m2
66 130SJT-M075D，1.88kW, 220V, 2500 r/min, 7.5A, 1.95×10-3kg. m2
67 130SJT-M100B，1.5kW, 220V, 1500 r/min, 6A, 2.42×10-3kg. m2
68 130SJT-M100D，2.5kW, 220V, 2500 r/min, 10A, 2.42×10-3kg. m2
69 130SJT-M150B，2.3kW, 220V, 1500 r/min, 8.5A, 3.1×10-3kg. m2
70 130SJT-M150D，2.3kW, 220V, 2500 r/min, 8.5A, 3.1×10-3kg. m2
71 175SJT-M150D，3.1 kW, 220V, 2500 r/min, 14 A, 5.1×10-3kg. m2
72 175SJT-M180B，2.8 kW, 220V, 1500 r/min, 15 A, 6.5×10-3kg. m2
73 175SJT-M180D，3.8 kW, 220V, 2500 r/min, 16.5 A, 6.5×10-3kg. m2
74 175SJT-M220B，3.5 kW, 220V, 1500 r/min, 17.5 A, 9.0×10-3kg. m2
75 175SJT-M220D，4.5kW, 220V, 2500 r/min, 19 A, 9.0×10-3kg. m2
76 175SJT-M300B，4.7 kW, 220V, 1500 r/min, 24A, 11.2×10-3kg. m2
77 175SJT-M300D，6kW, 220V, 2500 r/min, 27.5 A, 11.2×10-3kg. m2
78 175SJT-M380B，6 kW, 220V, 1500 r/min, 29 A, 14.8×10-3kg. m2

Table 4-4 Checklist of No.1 Parameter and SJT Series 500-Line Incremental Servo Motor

№1 Parameter Model numbers and Specification of Servomotors

15 80SJT-M024C(A2)，0.5kW, 220V, 2000 r/min, 3A, 0.83×10-4kg. m2
16 80SJT-M024E(A2)，0.75kW, 220V, 3000 r/min, 4.8A, 0.83×10-4kg. m2
17 80SJT-M032C(A2)，0.66kW, 220V, 2000 r/min, 5A, 1.23×10-4kg. m2
18 80SJT-M032E(A2)，1.0kW, 220V, 3000 r/min, 6.2A, 1.23×10-4kg. m2
19 110SJT-M040D(A2)，1.0kW, 220V, 2500 r/min, 4.5A, 0.68×10-3kg. m2
20 110SJT-M040E(A2)，1.2kW, 220V, 3000 r/min, 5A, 0.68×10-3kg. m2
21 110SJT-M060D(A2)，1.5kW, 220V, 2500 r/min, 7A, 0.95×10-3kg. m2
22 110SJT-M060E(A2)，1.8kW, 220V, 3000 r/min, 8A, 0.95×10-3kg. m2
23 130SJT-M040D(A2)，1.0kW, 220V, 2500 r/min, 4A, 1.19×10-3kg. m2
24 130SJT-M050D(A2)，1.3kW, 220V, 2500 r/min, 5A, 1.19×10-3kg. m2
25 130SJT-M060D(A2)，1.5kW, 220V, 2500 r/min , 6A, 1.95×10-3kg. m2
26 130SJT-M075D(A2)，1.88kW, 220V, 2500 r/min, 7.5A, 1.95×10-3kg. m2
27 130SJT-M100B(A2)，1.5kW, 220V, 1500 r/min, 6A, 2.42×10-3kg. m2

44
 Chapter 5 Alarms and Remedies

28 130SJT-M100D(A2)，2.5kW, 220V, 2500 r/min, 10A, 2.42×10-3kg. m2

29 130SJT-M150B(A2)，2.3kW, 220V, 1500 r/min, 8.5A, 3.1×10-3kg. m2
30 130SJT-M150D(A2)，2.3kW, 220V, 2500 r/min, 8.5A, 3.1×10-3kg. m2
31 175SJT-M150D(A2)，3.1 kW, 220V, 2500 r/min, 14 A, 5.1×10-3kg. m2
32 175SJT-M180B(A2)，2.8 kW, 220V, 1500 r/min, 15 A, 6.5×10-3kg. m2
33 175SJT-M180D(A2)，3.8 kW, 220V, 2500 r/min, 16.5 A, 6.5×10-3kg. m2
34 175SJT-M220B(A2)，3.5 kW, 220V, 1500 r/min, 17.5 A, 9.0×10-3kg. m2
35 175SJT-M220D(A2)，4.5kW, 220V, 2500 r/min, 19 A, 9.0×10-3kg. m2
36 175SJT-M300B(A2)，4.7 kW, 220V, 1500 r/min, 24A, 11.2×10-3kg. m2
37 175SJT-M300D(A2)，6kW, 220V, 2500 r/min, 27.5 A, 11.2×10-3kg. m2
38 175SJT-M380B(A2)，6 kW, 220V, 1500 r/min, 29 A, 14.8×10-3kg. m2

Table 4-5 Checklist of No.1 Parameter and SJT Series Absolute Servo Motor

№1 Parameter Model numbers and Specification of Servomotors

55 80SJT-M024C(A4/A4I)，0.5kW, 220V, 2000 r/min, 3A, 0.83×10-4kg. m2
56 80SJT-M024E(A4/A4I)，0.75kW, 220V, 3000 r/min, 4.8A, 0.83×10-4kg. m2
57 80SJT-M032C(A4/A4I)，0.66kW, 220V, 2000 r/min, 5A, 1.23×10-4kg. m2
58 80SJT-M032E(A4/A4I)，1.0kW, 220V, 3000 r/min, 6.2A, 1.23×10-4kg. m2
59 110SJT-M040D(A4/A4I)，1.0kW, 220V, 2500 r/min, 4.5A, 0.68×10-3kg. m2
60 110SJT-M040E(A4/A4I)，1.2kW, 220V, 3000 r/min, 5A, 0.68×10-3kg. m2
61 110SJT-M060D(A4/A4I)，1.5kW, 220V, 2500 r/min, 7A, 0.95×10-3kg. m2
62 110SJT-M060E(A4/A4I)，1.8kW, 220V, 3000 r/min, 8A, 0.95×10-3kg. m2
63 130SJT-M040D(A4/A4I)，1.0kW, 220V, 2500 r/min, 4A, 1.19×10-3kg. m2
64 130SJT-M050D(A4/A4I)，1.3kW, 220V, 2500 r/min, 5A, 1.19×10-3kg. m2
65 130SJT-M060D(A4/A4I)，1.5kW, 220V, 2500 r/min , 6A, 1.95×10-3kg. m2
66 130SJT-M075D(A4/A4I)，1.88kW, 220V, 2500 r/min, 7.5A, 1.95×10-3kg. m2
67 130SJT-M100B(A4/A4I)，1.5kW, 220V, 1500 r/min, 6A, 2.42×10-3kg. m2
68 130SJT-M100D(A4/A4I)，2.5kW, 220V, 2500 r/min, 10A, 2.42×10-3kg. m2
69 130SJT-M150B(A4/A4I)，2.3kW, 220V, 1500 r/min, 8.5A, 3.1×10-3kg. m2
70 130SJT-M150D(A4/A4I)，2.3kW, 220V, 2500 r/min, 8.5A, 3.1×10-3kg. m2
71 175SJT-M150D(A4/A4I)，3.1 kW, 220V, 2500 r/min, 14 A, 5.1×10-3kg. m2
72 175SJT-M180B(A4/A4I)，2.8 kW, 220V, 1500 r/min, 15 A, 6.5×10-3kg. m2
73 175SJT-M180D(A4/A4I)，3.8 kW, 220V, 2500 r/min, 16.5 A, 6.5×10-3kg. m2
74 175SJT-M220B(A4/A4I)，3.5 kW, 220V, 1500 r/min, 17.5 A, 9.0×10-3kg. m2
75 175SJT-M220D(A4/A4I)，4.5kW, 220V, 2500 r/min, 19 A, 9.0×10-3kg. m2
76 175SJT-M300B(A4/A4I)，4.7 kW, 220V, 1500 r/min, 24A, 11.2×10-3kg. m2
77 175SJT-M300D(A4/A4I)，6kW, 220V, 2500 r/min, 27.5 A, 11.2×10-3kg. m2
78 175SJT-M380B(A4/A4I)，6 kW, 220V, 1500 r/min, 29 A, 14.8×10-3kg. m2

45
 GE2000 Series AC Servo Drive Unit User Manual

Chapter 5 Alarms and Remedies

Attention
z Any personnel involved in the check and repair work must be well trained and qualified.
z Do not touch the drive unit and motor until 5min after they are disconnected from power supply
as it may lead to electric shock and burn.
z When the drive unit gives a fault alarm, do not bring it into use unless the fault is eliminated by
its alarm code.
z Before resetting the alarm, make sure SON (servo is active) signal is active in order to prevent
the motor from accidental start.

5.1 Abnormalities Arising from Improper Usage

Table 5-1 Abnormalities in Ethernet Bus Control Mode and Remedies
Abnormality Possible Causes Examinations and Solutions
1. Incorrect selection of operating mode Check the setting of PA4.
The motor fails to
2. Failure to give an enabling signal Check that SON is correct and judge
operate when
that the CNC of the system can give
pulse commands
are given in the enabling signal by examine

position mode. or internally force enabling by setting

PA98=1.
Improper setting of proportional gain of Recover the default parameters of the
Excessive
speed ring and integral time constant motor or manually adjust PA5, PA6 and
vibration during
(PA5, PA6); PA9.
the operation of
Improper setting of proportional gain of
the motor.
position ring (PA9)
1. Incorrect setting of electronic gear Refer to the method for calculation of
ratio; electronic gear ratio and correctly set it.
2. Inaccurate pulse reception caused by When the command pulse number is
Inaccurate external interference
less than the indication of , it is
position control
under external interference.
A. Use a differential circuit as far as
possible;
B. Correctly connect the shielded wires;
C. Keep away from the interference

46
 Chapter 5 Alarms and Remedies

source.

3. Fault of mechanical connection When the command pulse number is

equal to the indication of and,

after the conversion of electronic gear

ratio, the indication of , carefully

check that the mechanical joint

becomes loose or is deformed.
Excessive Big load inertia and excessively low Increase the acceleration and
fluctuation of setting of acceleration and deceleration deceleration time of the commands from
the load during time of the commands from the the corresponding host computer so
start or stop corresponding host computer that the motor starts or stops smoothly
or reduce the proportional gain of the
position ring.

5.2 Summary of Alarms

Table 5-2 Summary of Alarms

Alarm Alarm name Contents

code
1 Overspeed The speed of the servomotor is higher than the
setting.
2 Overvoltage of main circuit Excessively high supply voltage of main circuit
3 Undervoltage of main circuit Excessively low supply voltage of main circuit
4 Position out-of-tolerance The indication of the position deviation counter
goes beyond the setting.
6 Saturation fault of speed amplifier The speed adjuster is saturated for a long time.
7 Abnormality of drive unit disabling Both CCW and CW drive disabling inputs are OFF.
8 Overflow of position deviation The absolute value of the position deviation
counter counter is above 230
9 Fault of encoder Signal error of encoder
10 Undervoltage of control power The voltage of the control power supply ±15V is
supply too low.
11 Fault of IPM module Fault of IPM intelligent module
12 Overcurrent Excessive motor current
13 Overload Overload of the servo drive unit and motor

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 GE2000 Series AC Servo Drive Unit User Manual

(transient overtemperature)
15 Counting error of encoder Counting abnormality of encoder
16 Motor’heat overload Alarm for motor’s long time running beyond
rated load
20 EEPROM error EEPROM error
23 Error of A/D chip Error of A/D chip or current sensor
30 Missing pulse of Encoder Z Pulse error of Encoder Z
31 Erroneous UVW signal of Erroneous UVW signal of encoder or mismatching
encoder encoder
32 Illegal coding of encoder UVW Full-high or full-low level of UVW signal
signal
33 Abnormal bus communication Interruption of bus communication
34 Alarm for radiator’s high Current temperature of radiator is more than its
temperature setting value
35 Alarm for radiator low- Current temperature of radiator is lower than its
setting value
temperature
36 Main power supply’s power down AC input power supply is turned off
37 Reading absolute encoder Reading motor model and single-turn offset
EEPROM data is overtime amount and other data stored in EEPROM is
overtime

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 Chapter 5 Alarms and Remedies

5.3 Solutions for Alarms

Table 5-4 Solutions for Alarms

Alarm
Alarm name Causes Solutions
code
①Change the servo drive
①Fault of control circuit board
unit.
②Fault of encoder
②Change the servomotor.
①The input command pulse frequency is ①Correctly set the input
too high. command pulse.
①Small acceleration/ deceleration time ①Increase the
constant causes excessive speed acceleration/ deceleration
overshooting. time constant.
①The electronic gear ratio entered is too
①Correctly set the ratio.
high.
① Fault of encoder. ①Change the servomotor.
① Change the power
① Defective power cable of encoder.
cable of encoder.
①Reconfigure the relevant
gain.
1 Overspeed ① The servo system is not stable, causing ②If the gain cannot be set
overshooting. to an appropriate value, the
load rotary inertia ratio shall
be decreased.
①Reduce the load inertia.
②Replace it with a drive
①Excessive load inertia
unit and motor with higher
power.
①Change the servomotor.
② Have the zero of the
①Zero error of encoder
encoder reconfigured
by manufacturer.
①The leads U, V and W are connected
incorrectly.
①Connect them correctly.
②The leads of the power cable for the
encoder are connected incorrectly.

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 GE2000 Series AC Servo Drive Unit User Manual

①Change the servo Drive

① Fault of circuit board.
Unit.
① High supply voltage
①Check the power supply.
②Abnormal waveform of supply voltage.
① The wires connecting the brake resistor
①Connect the wires again.
are disconnected.
① The brake transistor is damaged. ①Change the servo drive
② The internal brake resistor is damaged. unit.
Overvoltage of ①Reduce start and stop
2
main circuit frequency.
②Increase the
acceleration/ deceleration
① The capacity of the brake circuit is time constant.
insufficient. ③Reduce the torque limit.
④Reduce the load inertia.
⑤Replace it with a drive
unit and motor with higher
power.
①Fault of circuit board.
②Damaged power supply fuse. ①Change the servo drive
③Fault of soft start circuit. unit.
④Damaged rectifier.
Undervoltage of ①Lover supply voltage
3
the main circuit ②Temporary power failure for 20mS or ①Check the power supply.
longer.
①Insufficient capacity of power supply.
①Check the power supply.
② Transient power failure.
①Overtemperature of radiator. ①Check the load.
Position ①Change the servo Drive
4 ① Fault of circuit board.
out-of-tolerance Unit.
① The leads U, V and W of the motor are
connected incorrectly.
①Connect them correctly.
② The leads of the power cable for the
encoder are connected incorrectly.
① Fault of encoder. ①Change the servomotor.

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 Chapter 5 Alarms and Remedies

①Increase the detection

①The set detection range of position
range of position
out-of-tolerance is too small.
out-of-tolerance.
①Excessively low proportional gain of
①Increase the gain.
position.
①Check the torque limit.
②Reduce the load
capacity.
① Insufficient torque.
③Replace it with a drive
unit and motor with higher
power.

① High command pulse frequency. ①Reduce the frequency.

①Check the mechanical

① The motor is mechanically blocked.
portion of the load.
Saturation fault
①Reduce the load.
6 of speed
②Replace it with a drive
amplifier ① Excessive load.
unit and motor with higher
power.
①Check the wiring and the
Drive disabling ① Both CCW and CW drive disabling
7 power supply for the input
failure input terminals are open.
terminals.
①Check the mechanical
portion of the load.
Overflow of the
②Check the command
position ①The motor is mechanically blocked.
8 pulse.
deviation ②Abnormal input command pulse.
③Check that the motor
counter
rotates to the command
pulse.
9 Fault of encoder ①Error in encoder wiring. ①Check the wiring.
①Damaged encoder. ①Change the motor.
①Defective power cable for the encoder. ①Change the power cable.

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 GE2000 Series AC Servo Drive Unit User Manual

①Keep the cable as short

①Excessively low supply voltage on the as possible.
encoder caused by long power cable ②Connect several core
for the encoder. wires in parallel for
supplying power.

① Absolute encoder communication fault. ① Turn on the drive unit.

①Check the control power

① Low input control power supply.
supply.
Undervoltage of
①Defective built-in connectors in the Drive ①Change the Drive Unit.
10 control power
Unit. ②Check the connectors.
supply
②Abnormal switching power supply. ③Check the switching
③Damaged chip. power supply.
①Change the servo drive
① Fault of circuit board.
unit.
①Check the Drive Unit.
① Low supply voltage
②Restart it.
② Overheating.
③Replace the Drive Unit.
Fault of IPM
① Short circuit between terminals U, V and
11 module ①Check the wiring.
W of the Drive Unit.
①Improper grounding ①Correctly ground it.
①Damaged insulation of the motor. ①Change the motor.
①Add a line filter.
①Interference ②Keep away interference
sources.
①Short circuit between terminals U, V and
①Check the wiring.
W of the Drive Unit.
12 Overcurrent ① Improper grounding. ①Correctly ground it.
①Damaged insulation of the motor. ①Change the motor.
① Damaged the drive unit. ①Replace the drive unit.
①Change the servo drive
13 Overload ① Fault of circuit board
unit.

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 Chapter 5 Alarms and Remedies

①Check the load.

②Reduce the start and
① The motor operates at torque above the stop frequency.
rating. ③Reduce the torque limit.
④Change a drive unit and
motor with higher power.
①The holding brake is not released. ①Check the holding brake.
①Adjust the gain.
②Increase the
① Unsteady operation of the motor with
acceleration/deceleration
vibration.
time.
③Reduce the load inertia.
① Open circuit of one of the wires U, V and
W. ①Check the wiring.
② Error in encoder wiring
①Change the servo drive
① Fault of circuit board.
unit.
① The wires connecting the brake resistor
①Connect the wires again.
are disconnected.
① The brake transistor is damaged. ①Change the servo drive
②The internal brake resistor is damaged. unit.
①Reduce start and stop
frequency.
14 Brake fault ②Increase the acceleration/
deceleration time constant.
①The capacity of the brake circuit is
③Reduce the torque limit.
insufficient.
④Reduce the load inertia.
⑤Change it with a drive
unit and motor with higher
power.
①Check the main power
① High supply voltage on the main circuit.
supply.
① Damaged encoder. ①Change the motor.
Counting error
15 ① Error in encoder wiring. ①Check the wiring.
of encoder
① Improper grounding. ①Correctly ground it.

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 GE2000 Series AC Servo Drive Unit User Manual

①Change the circuit board

②Check the load
③Correctly set parameters
① Damaged circuit boar.
④Reduce start-stop
② Mistaken parameter setting.
Motor’s heat frequency.
16 ③ Long-time run exceeds the rated
overload ⑤Increase torque limit
torque.
value.
④ Defective mechanical drive
⑥Change a drive unit and
motor with more power.
⑦Check mechanical part.
② Change the servo Drive
Unit.
③ After the remedy, make
sure to set the model
20 EEROM error ① Damaged chip or circuit board.
number (No.1
parameter) again and
then restore the default
parameters.
A/D conversion ① Defective amplifier or 431. ①Change the servo drive
23
error ② Damaged current sensor. unit.
① Absence of Z pulse and damaged
encoder.
① Change the encoder.
② Defective power cable.
Missing Z pulse ② Check the encoder
30 ③ Poor cable shielding.
of encoder interface circuit.
④ Improper connection of shield earth
wire.
⑤ Fault of the encoder interface circuit.
① Damage of UVW signal of encoder.
② Damage of Z signal of encoder.
① Change the encoder.
③ Defective power cable.
UVW signal ② Check the encoder
31 ④ Poor cable shielding
error of encoder interface circuit.
⑤ Improper connection of shield earth
wire
⑥ Fault of the encoder interface circuit.
① Damage of UVW signal of encoder. ① Change the encoder.
Illegal encoding
② Defective power cable. ② Check the encoder
32 of UVW signal
③ Poor cable shielding. interface circuit.
of encoder
④ Improper connection of shield earth

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 Chapter 5 Alarms and Remedies

wire.
⑤ Fault of the encoder interface circuit.
① Check that the network
cable is correctly
Abnormality of ① Loose network cable and poor contact. connected. Otherwise
33 bus ② Damaged communication chip in the change the control
communication control board. network cable.
② Change the servo Drive
Unit.

①The motor’s too long run with load. Reduce load

Alarm for
② Tool high ambient temperature. Improve ambient
34 radiator’s high
temperature
temperature
③ Damaged servo unit. Change a servo unit

Alarm for ① Too low ambient temperature ① Improve ambient

35 radiator’s low ② Damaged drive unit. temperature.
temperature ② Change a servo unit.

① Power-down or transient fall-out Check main power supply

3-phase main 3-phase main power supply. and ensure a correct

36 power supply 3-phase voltage input

power-down ② Detection circuit of 3-phase main power Change a servo unit

supply is failure.

Overtime of ① Bad encoder’s cable. Change a cable

reading absolute
37 ② Damaged communication chip or circuit Change a servo control
encoder
board panel
EEPROM

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 GE2000 Series AC Servo Drive Unit User Manual

Chapter 6 Display and Operations

6.1 Keyboard Operations

1. The panel of the drive unit consists of 6 LED nixie-tube displays and four keys ↑, ↓, ← and
Enter, which are used to indicate the states of the system and to set parameters.
The functions of the keys are described below:
↑ : S/N, to increase a value or move forward in options
↓ : S/N, to decrease a value or move backward in options
← : to return to the upper layer of functional menu or cancel an operation
Enter : To enter the next layer of functional menu or confirm entry
Note: When ↑ and ↓ are pressed and held, an operation is repeated. The repeating rate increases

with the holding time.

2. The 6-digit LED nixie tubes indicate all states and data. The flashing of all the nixie tubes or
the decimal point on the right nixie tube indicates an alarm.
3. The operating menus are arranged in layers. The first layer is the main menu that includes
eight operating modes. The second layer consists of the functional menus in all operating modes.
Figure 6-1 shows the block diagram of operating the main menu.

Monitoring mode

Parameter setting

Parameter management
ENTER
Speed try running
The 2nd layer

JOG running

Automatic gain adjustment

Encoder zero

Open-loop operation

The 1st layer

Figure 6-1 Block diagram of Mode Selection

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 Chapter 6 Display and Operations

6.2 Monitoring Mode

To enter the monitoring mode, choose “dP-” in the first layer and press the Enter key. There
are 21 display modes. A user may select the required display mode using the ↑ and ↓ keys and
then press the Enter key to enter the specific display mode.
Note: The main monitoring information of GE2000 may be displayed on the servo monitoring interface

of the system.

DP- SPd Motor speed (rpm) r 1000 Motor speed: 1,000 rpm

DP- PoS Lower 5 digits of the current position (pulse) P 45806

Current position: 1,245,806 pulses
DP- PoS. Upper 5 digits of the current position (x 100,000 pulses) P . 12
DP- CPo Lower 5 digits of position command (pulse) C 45810
Position command: 1,245,810 pulses
DP- CPo. Upper 5 digits of position command (x 100,000 pulses) C . 12
DP- EPo Lower 5 digits of position deviation (pulse) E 4
Position deviation: 4 pulses
DP- EPo. Upper 5 digits of position deviation (x 100,000 pulses) E. 0
DP- trq Motor torque (%) t 70 Motor torque: 70%

DP-I Motor current (A) I 2.3 Motor current 2.3A

Enter
↓ ↑ DP- LSP Linear speed (m/min) L 5.000 Linear speed: 5,000m/min

DP- Cnt Current control mode Cnt 0 Control mode 0

Pulse frequency of position
DP- Frq Pulse frequency of position command (kHz) F.12 6 command: 2.6kHz

DP- CS Speed command (rpm) r. 35 Speed command: -35 rpm

DP- Ct Torque command (%) t. 20 Torque command: - 20%

DP- APo Pulse of rotor抯absolute position in one revolution A3265 Absolute position of rotor: 3265

DP- rln Multi-turn position n. 1250 Multi-turn position 1250

DP-In State of input terminals In |||||||| State of input terminals

DP- oUt State of output terminals oUt |||| State of output terminals

DP- Cod Input signal of encoder Cod|||||| Input signal of encoder

DP-rn Run state rn- on Operating state: running

DP- Err Alarm code Err9 No.9 alarm

DP-tEp Temperature of radiator C 25.6 Radiator temperature 25.6 centigrade

DP-Dc Bus voltage Dc 315 Bus AC voltage 315V

DP- Dat Last change in software 120420 2012-04-20

DP -CPL Hardware version CP 12009 Hardware version: 1209

DP- rES Reserved U 0 Reserved

Figure 6-2 Block diagram of operations in monitoring mode

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 GE2000 Series AC Servo Drive Unit User Manual

Note 1: Both the speed pulse and command pulse are the values amplified by the input electronic gear.

Note 2: The unit of the pulse number is the pulse unit in V1.02. The number is indicated in 10000

pulses/revolution (Note: 131,072 pulses/revolution for V3.02). A pulse is indicated by upper 5 digits

plus lower 5 digits. It is calculated is as follows:

Pulse number =Upper 5-digit value x 100000 + Lower 5-digit value

Note 3: Control mode: 0-Position control; 1-Speed control: 2-Speed trial operation, 3-JOG operation;

4-Zeroing of encoder; 5-Open-loop operation

Note 4: If 6 or more digits are indicated (For example, it indicates -12345), then prompt characters are not

indicated.

Note 5: The position command pulse frequency is the actual pulse frequency before amplification of input

electronic gear to the nearest 0.1kHz. It is positive for forward direction and negative for reverse

direction.

Note 6: The motor current I is calculated as follows:

2 2
I= ( I U + I V2 + I W2 )
3

Note 7: The rotor’s absolute position in one revolution is its position in one revolution relative to the stator. A

revaluation is regarded one cycle and its range is 0～9999 (The range of single-turn absolute date

indication is 0～131072 for V3.01).

Note 8: The input terminals are indicated as shown in Figure 6-3 (No input signal display terminal is provided

by V3.02), output terminal in Figure 6-4 and encoder signal in Figure 6- (No encoder signal display

terminal is provided by V3.01).

Note 9: The multi-turn data display DP-rln for the absolute encoder is added in V3.02.

INH（command pulse disabled）

SC2（Speed Selection 2）
CLE (deviation counter cleared)
FIL（CCW torque limited）
SC1 (Speed Selection 1)

RIL（CW torque limited） FSTP (CCW drive disabled)

ALRS (Alarm cleared)

SON (servo enabled)

Figure 6-3 Indications of input terminals (The strokes are lit: ON. The strokes go out: OFF.)

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 Chapter 6 Display and Operations

COIN (Position completed)

SCMP (Speed reached)
Reserved
ALM (Servo alarm)

SRDY (Servo ready)

Figure 6-4 Indications of output terminals (The strokes are lit: ON. The strokes go out: OFF.)

Phase V of encoder

Phase W of encoder

Phase U of encoder Phase Z of encoder

Phase B of encoder
Phase A of encoder

Figure 6-5 Signal indications of encoder (The strokes are lit: ON. The strokes go out: OFF.)

Note 1: The operating state is indicated by:

“rn- oFF”: The main circuit is not electrified and the servo system is not operating.

“rn- CH”: The main circuit is electrified and the servo system is not operating. (The servo is not enabled or an

alarm other than No.33 is given);

“rn- on”: The main circuit is electrified and the servo system is operating.

Note 2: It indicates “err” in case of alarm. “--” means that the system operates normally without alarm.

6.3 Parameter Setting

Attention
z Other parameters cannot be changed unless No.0 parameter is set to the corresponding value.
z To set parameters, first make sure the model number of the motor in No.1 parameter conforms to
that of the motor.
z The parameter setting becomes effective immediately and improper setting may cause incorrect
equipment operation and thereby accidents.
z The parameters of the GE2000 series servo Unit may be set through the interface of CNC.

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 GE2000 Series AC Servo Drive Unit User Manual

1. Parameter Setting on Servo Drive Unit

Select “PA-” in the first layer and press the Enter key to enter the parameter setting mode.
Choose a parameter number using the ↑and ↓keys and press the Enter key to indicate the setting of
the parameter. The parameter setting may be modified using the ↑and ↓keys. The parameter setting
increases or decreases by one each press of the ↑ or ↓key. The parameter setting increases or
decreases continuous when the ↑ or ↓key is pressed and held. Once the parameter setting is
changed, the decimal point on the right LED nixie tube is lit. The change in the setting becomes
effective when the Enter key is pressed. Now the decimal point on the right LED nixie tube goes out
and the changed value is immediately reflected in control. Thereafter it is possible to continue to
modify the parameter setting with the ↑ or ↓key and then return to the parameter selecting state by
pressing the ← key. If you are not satisfied with the setting being changed, press the ← key other
than the Enter key to cancel the setting, restore it to the original value and return to the parameter
setting state.

No.0 parameter

No.1 parameter

No.98 parameter

No.99 parameter

Figure 6-6 Block diagram of parameter setting

2. Setting of Parameters on the System

After start, first check the drive unit parameters saved in CNC system and servo are consistent (The
system gives the relevant alarm in case of inconsistency) and then set the relevant parameter to
download the servo parameters saved in the system to the Drive Unit.
Enter the password for system modification on the system to activate the parameter switch and
thereafter access the system servo parameter management interface to modify the relevant
parameters. Before modifying the parameters, set No.0 password privilege parameter the
corresponding value. Only in this way other parameters can be modified. The system can automatically
save the changed parameters by operating the system interface. The servo parameters will become
active in the next start.

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 Chapter 6 Display and Operations

3. Description of Parameter Setting

The rigidity of the motors corresponding to the default parameters in the current servo software
version is relatively low. Make sure to set No.5, 6, 7, 8 and 9 parameters on a machine tool as required
and adjust it to appropriate rigidity so as to achieve the optimal machining effect.
The 2nd gain (No. 55, No. 56, No.57 parameter) is regulated to gain precision requirements in
different machining type when tapping, drilling or rapid positioning is executed.

6.4 Parameter Management

Attention
If parameter writing-in operation is not performed for the changed parameters, they are
not saved after power-off and the change is not active.

Parameter management is mainly intended for the operation between the memory and EEPROM.
Select “EE-” in the first layer and enter the Enter key to start parameter management. First select one
of the five operating modes with the ↑and ↓keys. To take “Write-in of Parameters” as an example,
select “EE-Set” and then press and hold the Enter key for more than 3s. “Start” appears on the
display, indicating the parameter is being written in the EEPROM. Wait for about 1-2 seconds. The
display shows “Finish” if the write-in is successful and “Error” if it is failed. It is possible to return to the
operating mode selecting state by pressing the ←key.

z EE-SEt: to write parameters: It means that the parameters in the memory are written in the
parameter area of EEPROM. When the parameter is modified, a user can only change its
setting in the memory and it will be restored to the original value in the next power-on. For
permanent modification of the parameter setting, it is required to perform parameter writing-in
operation. The changed setting will be used in the next power-on if the parameters in the
memory are written in the parameter area of the EEPROM.
z EE-rd: to read parameters: It means that the data in the parameter area of EEPROM is read
into the memory. This process is automatically whenever the system is powered on. The
parameter settings in the memory are identical with those in the parameter area of EEPROM.
The user’s modification of a parameter changes its setting in the memory. If the user is not
satisfied with the changed parameter or when the parameter is improperly adjusted, the data
in the parameter area of the EEPROM may be read into the memory again to restore the
parameters prior to power-on by performing the parameter reading operation.
z EE-bA: to back up parameters: It means that the parameters in the memory are written in the
backup area of EEPROM. The complete EEPROM is divided into parameter area and backup

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 GE2000 Series AC Servo Drive Unit User Manual

area for storage of two sets of parameters. The parameter area of EEPROM is used in
system power-on, parameter writing and parameter reading operations. The backup area of
EEPROM is used for parameter backup and recovery backup. If a user is satisfied with one
parameter group but wants to continue the modification during parameter configuration, it is
possible to first perform a parameter backup operation and save the parameters in the
memory in the backup area of EEPROM and then change the parameters. In case of poor
effect, read the parameters saved in the backup area of EEPROM by recover backup and
then modify or end up the configuration. In addition, when a user has properly set the
parameters, he may keep the data in the parameter of EEPROM identical with that in the
backup area by means of parameter writing and backup in order to prevent the parameters
from accidental modification. It is also possible to read the data in the backup area of
EEPROM by recovery backup and to write the memory parameters in the parameter area of
EEPROM by parameter writing.
z EE-rS: to recover backup: It means that the data in the backup area of the EEPROM is saved
in memory. Note that parameters are not written in this operation and the data in the
parameter area of EEPROM will be read in the memory in the next power-on. If a user wants
to use the parameters in the backup area of EEPROM permanently, the parameter writing
operation must be performed again.
z EE-dEF: to recover default settings: It means that all the defaults (factory settings) of all the
parameters are read to the memory and written in the parameter area of EEPROM. The
parameter defaults will be used in the next power-on. In case of failure to operate normally as
a result of improper parameter setting, all the parameters may be reset to factory defaults by
this operation. The accuracy of the model number (No.1 parameter) of the drive unit must be
ensured while using the default recovery parameter as the parameter defaults vary with drive
unit types.

Figure 6-7 Block diagram of parameter management

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 Chapter 6 Display and Operations

Figure 6-8 Operations for Parameter management

Attention
z It is recommended to perform speed trial operation and JOG operation when the motor is
unloaded in order to prevent the equipment from accident.
z The drive unit SON (servo enabled) shall be active and the CCW and CW drives enabling
inactive during trial operation.

6.5 Speed Trial operation

First set No.4 parameter “Operation control mode” to “2 – Trial operating mode”, then select “Sr-”
in the first layer and press the Enter key to start the trial operating mode. The prompt for speed trial
operation is “S” and figures are expressed in rpm. When the system is speed control mode, the speed
command is given by keys. Speed commands may be changed using ↑ and ↓ keys so that the motor
operates at given speed. Speed is increased in forward direction when ↑ is pressed and decreased in
reverse direction (increased in reverse direction) when ↓ is pressed. The motor rotates forward when
the indicated speed is positive and reversely when it is negative.

↑
S 800
↓
Figure 6-9 Block diagram of speed trial operation

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 GE2000 Series AC Servo Drive Unit User Manual

6.6 JOG operation

First set No.4 parameter “Operation control mode” to “3 – JOG operating mode”, then select “Jr-”
in the first layer and press the Enter key to start the JOG operation, i.e. JOG mode. The prompt for
speed trial operation is “J” and figures are expressed in rpm. When the system is speed control mode,
the speed command is given by keys. After JOG operation is started, the motor operates at JOG
speed when the ↑ key is pressed and held and stops and keeps zero speed when it is released. The
motor operates reversely at JOG speed when the ↓ key is depressed and stops and keeps zero
speed when it is released. JOG speed is set through No.21 parameter.

Speed commands may be changed using ↑ and ↓ keys so that the motor operates at given
speed. Speed is increased in forward direction when ↑ is pressed and decreased in reverse direction
(increased in reverse direction) when ↓ is pressed. The motor rotates forward when the indicated
speed is positive and reversely when it is negative.

↑
J 120
↓

Figure 6-10 Block diagram of JOG operation

6.7 Other
The zeroing function of the encoder is used by manufacturer. It shall not be used by user.
The open-loop operating mode is used by manufacturer. It shall not be used by user.

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 Chapter 7 Power-on and Operation

Chapter 7 Power-on and Operation

Attention
z The drive unit and motor must be securely grounded and the PE terminal properly connected
to the earth terminal of the equipment (≤0.1Ω)
z It is recommended to supply power to the drive unit through an insulating transformer and
power filter in order to ensure safety and anti-jamming capacity.
z Do not switch on the power supply until you make sure the wiring is correct.
z Make sure to connect the equipment to an emergency stop circuit so that the power supply
can be immediately disconnected in the event of fault. (See Fig.7.1)
z After the drive unit gives a fault alarm, make sure the fault is eliminated and SON signal is
inactive before restart.
z Do not touch the drive unit and the motor within five minutes after power-off to avoid electric
shock by residual voltage.
z The drive unit and motor are subject high temperature rise after operating for some time. Be
careful to prevent burn.

7.1 Connection to Power Supply

See Figure 7-1 for connection to power supply and switch on the equipment in the following
sequence:
1) Connect the power supply to the input power terminals of the main circuit (to R, S and T for
3-phase and to R and S for single-phase) through an electromagnetic contactor.
2) The power supplies r and t to the control circuit and the power supply to the main circuit are
switched on simultaneously or the former before the latter. The Servo Ready (SRDY) is OFF
if only the power supplies to the control circuit are switched on.
3) The Servo Ready (SRDY) is ON after delay for about 1.5s when the power supply to the
main circuit is switched on. Now it is possible to receive Servo Enabled (SON) signal. The
motor is excited and is in operating state when active Servo Enabled signal and servo drive
output are detected. The base circuit opens and the motor is free state when inactive Servo
Enabled signal and alarm are detected
4) When Servo Enabled and power supply are switched on concurrently, the base circuit is
closed after about 1.5s.
5) Frequently switching on/off the power supply may cause damage to the soft starting circuit
and dynamic braking circuit. It is advisable to limit the switching on/off frequency to 5

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 GE2000 Series AC Servo Drive Unit User Manual

times/hour and 30 times/day. In case of fault as a result of overheating of the drive unit or
motor, do not restart them until cooling for 30min after the removal of the fault.

Emergency stop OFF RA ON

MC
MC
SK
NFB
MC
3-phase or Noise
R
single-phase filter S
AC 220V T
r
t

Servo drive
unit

Figure 7-1 Power supply wiring diagram

Time sequence of power-on and alarm:

Power supply of control circuit

Servo alarm output

Power supply of main circuit

Response in 10ms
Servo ready output

Servo enabling input Servo ready

Excitation of servo motor

Figure 7-2 Diagram of power-on time sequence

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 Chapter 7 Power-on and Operation

Power supply of control circuit

Servo alarm output（ALM）

Power supply of main circuit

Response in 10ms
Servo ready output（SRDY）
Alarm cleared（ALRS）

Servo enabling input（SON）

Excitation of servo motor

Securely open it after alarm.

Figure 7-3 Diagram of alarm time sequence

7.2 Trial Operation

1) Examinations before operation:
Following installation and wiring, always check the following items before powering on the drive
unit and motor:
z Are the TB power supply terminals connected properly and securely and is the input voltage
correct?
z Are the power cables and motor wires shorted or grounded?
z Is the encoder cable connected correctly?
z Are the control terminals connected accurately? Are the polarity and ratings of the power
supply correct?
z Are the drive unit and motor fixed securely?
z Is the motor shaft connected to a load?
2) Power-on and Trial operation

A: Trial operating mode

（1）Connect network cables BUS1 and BUS2 so that the input control signal Servo Enabled
(SON) is OFF.
（2）Turn on the control circuit (the main circuit is not switched on for the time being). The
display of the drive unit is on. If an alarm is given, check the wiring.
（3）Set the “Selection of control mode” (No.4 Parameter) to speed trial operating mode (“2”).
（4）Turn on the main circuit.

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 GE2000 Series AC Servo Drive Unit User Manual

（5）Make sure there is no alarm and any other abnormality, connect BUS1 and BUS2 to the
system and reset Servo Enabled (SON) to ON. Now the motor is excited and operates at
zero speed.
（6）Enter the speed trial operation operating mode through key operations. The prompt for
speed Trial operation is “S” and figures are expressed in rpm. When the system is speed
control mode, the speed command is given by keys. Speed commands may be changed
using ↑ and ↓ keys so that the motor operates at given speed.

B: JOG (Inching) Operation

（1） Connect network cables BUS1 and BUS2 so that the input control signal Servo Enabled
(SON) is OFF.
（2） Turn on the control circuit (the main circuit is not switched on for the time being). The
display of the drive unit is on. If an alarm is given, check the wiring.
（3） Set the “Selection of control mode” (No.4 Parameter) to JOG operating mode (“3”).
（4） Turn on the main circuit.
（5） Make sure there is no alarm and any other abnormality, connect BUS1 and BUS2 to the
system and reset Servo Enabled (SON) to ON. Now the motor is excited and operates at
zero speed.
（6） Start JOG operation through key operations. The prompt for speed Trial operation is “J”
and figures are expressed in rpm.. When the system is speed control mode, the speed
and direction are dependent on No.21 parameter. The motor operates at the speed in the
direction as specified in No.21 parameter when ↑ is pressed and runs reversely at the
given speed when the ↓ key is pressed.

C: Position Operating Mode

（1） Connect BUS1 and BUS2 so that the input control signal Servo Enabled (SON) is OFF.
（2） Turn on the control circuit (the main circuit is not switched on for the time being). The
display of the drive unit is on. If an alarm is given, check the wiring in order to ensure that
Ethernet can be initialized successfully.
（3） Set the “Selection of control mode” (No.4 Parameter) to position operating mode (“0”).
Set No.14 parameter depending on the controller output signal mode and set an
appropriate electronic gear ratio (No.12 and No.13).
（4） Turn on the main circuit.
（5） Make sure there is no alarm, set Servo Enabled (SON) to ON. Now the motor is excited
and operates at zero speed.
（6） Send Ethernet position controller output signal to the drive so that the motor runs by
following the commands.

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 Chapter 7 Power-on and Operation

D: Speed Operating Mode

（1） Turn on the control circuit (the main circuit is not switched on for the time being). The
display of the drive unit is on. If an alarm is given, check the wiring in order to ensure that
Ethernet can be initialized successfully.
（2） Set the “Selection of control mode” (No.4 Parameter) to position operating mode (“1”). Set
No.24 through 27 parameters as required.
（3） Turn on the main circuit.
（4） Make sure there is no alarm, set Servo Enabled (SON) to ON. Now the motor is excited
and operates in Internal Speed 1 mode.
（5） Change the states of the input signals SC1 and SC2 so that the motor runs by following
the commands.

7.3 Adjustments

Attention
z Make sure the parameters are set correctly as incorrect parameter configuration may
cause equipment fault and accidents.
z It is advised to make no-load adjustments before the equipment is loaded.

1) Basic Gain Adjustment

z Speed Control
（1）[Proportional gain of speed] (No.5 parameter) shall be set as big as possible provided that
no vibration occurs. Generally the setting of [Proportional gain of speed] shall increase
with load inertia.
（2）[Integral time constant of speed] (No.6 parameter) shall be set as small as possible
depending on the given conditions. If the setting of [Integral time constant of speed] is too
small, the response speed will be increased but it tends to cause vibration. Therefore it
shall be set as small as possible provided that no vibration occurs. If the setting of
[Integral time constant of speed] is too big, the speed will change abruptly when the load
changes. Generally the setting of [Integral time constant of speed] shall increase with load
inertia.

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 GE2000 Series AC Servo Drive Unit User Manual

z Position Control
（1） First appropriately set [Proportional gain of speed] and [Integral time constant of speed].
（2） [Proportional gain of position] (No.9 parameter) shall be set as big as possible provided
that the equipment operates stably. For high setting of [Proportional gain of position], the
tracing characteristics of position commands are good with little lagging error but it tends
to cause vibration at the point of positioning stop.
（3） [Feedforward gain of position]
PA10 adjusts the speed ring using the speed information of position commands. The
following error is reduced with the increase of the setting. However, the motor is liable to produce
overshooting and vibration in the event of excessive setting. PA11 substantially intends to
smooth the feedforward control of position commands. The bigger the setting is, the faster the
response to the step speed command will be and the better the position overshoot and vibration
are suppressed. The smaller the setting is, the less clear the effect of feedforward and the bigger
the vibration caused by feedforward control will be in case of sudden change in speed.
As a general rule, it is possible not to use PA10 (Feedforward gain of position) and PA11
(Cut-off frequency of positional feedforward low-pass filter).

Note 1: When the setting of [Proportional gain of position] is small, the system is in stable state but the

position tracing characteristics become poor with more lagging error. To use relatively high

[Proportional gain of position], it is possible to increase the setting of [Acceleration/deceleration time

constant] (No.40 and 21 parameters) to avoid overshoot.

Note 2: Refer to the following table for the configuration of [Proportional gain of position] （incremental）

Rigidity [Proportional gain of position]

Low rigidity 20/s～40/s
Middle rigidity 40/s～70/s
High rigidity 70/s～150/s

Note 3: Refer to the following table for the configuration of [Proportional gain of position] （absolute）.

Rigidity [Proportional gain of position]

Low rigidity 10/s～20/s
Middle rigidity 30/s～50/s
High rigidity 50/s～70/s

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2) Diagram of Basic Parameter Adjustments

Figure 7-4 Diagram of basic parameter adjustment

3) Setting of Position Resolution and Electronic Gear

The position resolution (a pulse stroke △l) depends on the stroke △S of the servo motor in each
revolution and the feedback pulse Pt of encoder in each revolution. It may be expressed with the
following formulae:
ΔS
△l=
Pt
Where,
△l: a pulse stroke (mm);
△S: stroke △S of the servo motor in each revolution (mm/revolution);
Pt: Number of feedback pulses of encoder in each revolution (pulses/revolution)
As the system is provided with a quadruple-frequency circuit, Pt is equal to 4×C (C is the
number of lines of the encoder in each revolution). Pt is equal to 10,000 pulses/revolution since C is
2,500 lines/revolution in the system.
A command pulse can be converted to a position control pulse only when it is multiplied by the
electronic gear ratio G. Therefore a command pulse stroke △l﹡is expressed as
ΔS
△l*= ×G
Pt
Denominator of command pulse frequency division
Where, G =
Numerator of command pulse frequency division

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 GE2000 Series AC Servo Drive Unit User Manual

Chapter 8 Product Specification

Attention
z The servo drive unit must be ordered with a servomotor. This manual applies to GSK SJT
series.
z To use a servomotor made by another manufacturer, always specify in ordering.

8.1 Specification of Drive Unit

Table 8-1 Specification of Servo Drive Unit

Output power (kW) 3-phase AC220V（85%～110%） 50/60Hz

Rated torque of motor 0.5kW -- 6.0kW

Minimum communication cycle: 200µs

Ethernet bus
Communication interface Length of communication data: 0～256(Bit)
communication
Bit error rate: 10-12

① Position control ② Speed control ③ Speed trial operation ④ Speed JOG

Control modes
operation

Speed frequency response: 200Hz or higher

Speed ratio: 5000:1

Control characteristics Speed fluctuation ratio ＜±0.03 (load 0-100%);

＜±0.02 [(0.90%～+1.1%)×Supply voltage] (a value relative to the rated speed)

Period of least position command: ≥200us

Servo Enabled; Alarm cleared; Deviation Counter Zeroed signal; Command pulse

Control input prohibit; Setting servo parameters; Position command; Speed command; CW/CCW

Torque Limit; Internal speed selection; Zero return function input, ect.

Servo ready signal; Servo alarm output symbol; Positioning completion output;

Speed Arrival output; HOLD signal; Zero-speed output; Mask code feedback

Control output signal; Zero return completion, ect.

Position control Input means Periodic data input by bus

Electronic Numerator of gear ratio: 1－32767

gear ratio Denominator of gear ratio: 1－32767

Position Incremental servo motor：≤ 500kHz

command Absolute servo motor ：≤ 6554kHz
pulse
frequency

Feedback Incremental servo motor：10000 pulse/rev

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 Chapter 9 Ordering Guide

pulse 17bit absolute servo motor：131072 pulse/rev

Control command mode: ①external speed command ②internal speed

Speed control command

Speed command range: ± 5000r/min

Acceleration/deceleration setting time in speed control mode: 1ms～10000ms (0～

Acceleration/deceleration function
1000r/min)

Monitor speed, current position, command pulse accumulation, position deviation,

motor torque, motor current, linear speed, absolute position of rotor, command
Monitoring functions
pulse frequency, operating state, current control mode, rotor’s absolute position,

encoder input signal by the CNC side and drive side.

Alarm functions Overspeed, overvoltage and undervoltage of main power supply, overcurrent,

overload, position out-of-tolerance, speed amplifier saturation, drive prohibit

abnormality, position deviation counter overflow, encoder malfunction,

undervoltage of control power supply, IPM module failure, overcurrent, motor’s

overload, EEPROM error, Z pulse loss, bus communication fault, etc

Display function Data is displayed on the drive unit or CNC

Parameter setting mode, parameter management mode, status monitor mode,

speed trial-run mod, JOG run mode, encoder zeroing mode and so on

The parameters may be set, saved, backed up and recovered through the drive
Parameter management
unit or CNC.

1. Use the encoder with high resolution to get stable run and smooth machine run
2. Upload/download servo parameters online, feedback servo diagnosis messages
and monitor servo alarms in bus communication mode
3. High-efficient acceleration/deceleration compensation of drive unit’s backlash
4. Power-down memory function of workpiece coordinate system and zero return
Bus functions function without stroke limit switch in bus communication mode
5. Debug rigid grade of the drive parameters and optimize parameters in bus
communication mode to improve the whole response of matched machine tool
6. The communication period can be adjusted to apply to the bus CNC device with
different interpolation period
7. Add the 2nd gain to meet different machining requirements.

8.2 Specification of Servomotor

1. Product Overview

GSK SJT series of 3-phase AC permanent magnet synchronous servo motor has the following
technical advantages:
z Made of new rare earth materials, high output power;
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 GE2000 Series AC Servo Drive Unit User Manual

z Superior low-speed characteristics of motor, speed ratio >1:10000。

z High dielectric strength, insulating resistance and operating safety
z High overloading capacity, transient torque up to 8 times the rated torque

2. Description of Terminals

（1） ST Motor Winding

The schematic diagram of the motor winding is as shown below: A, B and C are the outlet
terminals of the winding. Outlet means: 4-pin socket.
Table 8-2-1 Wiring of motor

Socket
2 3 4
No.
Motor
U V W
winding
Remarks Pin 1 is grounded (enclosure)

Outlet means of the photoelectric encoder: 15-pin socket

Table 8-3 Wiring of incremental encoder

Pin 2 3 4 7 5 8 6 9 10 13 11 14 12 15

Marking Vcc GND A A B B Z Z U U V V W W

GND is the earth wire of encoder power supply Vcc. Pin 1 is grounded (enclosure)

Table 8-4 Wiring of Tamagawa absolute encoder

Socket 12
1 2 3 4 5 6 7 8 9 10 11 13 14 15
No.
Shell
Pin SD GND VCC SD VB
grounding

3. Specification

Table 8-5 Specification of SJT Series Motors

Power Pole Rated Rated Rated Rotor inertia Acceleration Operating

Model number (kw) pairs torque speed current (kgm2) time constant voltage

(N.m) (rpm) (A) (ms) (V,DC)

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 Chapter 9 Ordering Guide

110SJT-M020E 0.6 4 2 3000 3.0 3.4×10-4 52 220(300)

-4
110SJT-M040D 1.0 4 4 2500 4.5 6.8×10 45 220(300)
-4
110SJT-M060D 1.5 4 6 2500 7.0 9.5×10 42 220(300)
-3
130SJT-M040D 1.0 4 4 2500 4.0 1.19×10 80 220(300)
-3
130SJT-M050D 1.3 4 5 2500 5.0 1.19×10 64 220(300)
-3
130SJT-M060D 1.5 4 6 2500 6.0 1.95×10 82 220(300)
-3
130SJT-M075D 1.88 4 7.5 2500 7.5 1.95×10 66 220(300)
-3
130SJT-M100B 1.5 4 10 1500 6.0 2.42×10 38 220(300)
-3
130SJT-M100D 2.5 4 10 2500 10.0 2.42×10 63 220(300)
-3
130SJT-M150B 2.3 4 15 1500 8.5 3.1×10 33 220(300)
-3
130SJT-M150D 3.9 4 15 2500 14.5 3.6×10 63 220(300)

Note: Specify the specification while ordering a motor with dead electromagnet brake.

4. External Dimensions

(1) External view and installation dimensions of 80SJT series of motors

Industrial (aviation) socket type:

Cable plug-in type:

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 GE2000 Series AC Servo Drive Unit User Manual

Fig. 8-2 External view and installation dimensions of SJT series of AC servomotors with 8# base
Table 8-6

Model No. D(mm) N(mm) LB(mm) L(mm)

80SJT—M024C (A□) φ190-0.013 φ700-0.03 171 206
80SJT—M024E(A□) φ190-0.013 φ700-0.03 171 206
80SJT—M032C(A□) φ190-0.013 φ700-0.03 189 224
80SJT—M032E(A□) φ190-0.013 φ700-0.03 189 224

(2) External view and installation dimensions of SJT series of AC servomotors with 110# base

Fig. 8-3 External view and installation dimensions of SJT series of AC servomotors with 110# base

Table 8-7
Model No. D(mm) N(mm) LB(mm) L(mm)
110SJT—M040D(A□) φ190-0.013 φ950-0.035 186 (237) 241 (292)

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110SJT—M040E(A□) φ190-0.013 φ950-0.035 186 (237) 241 (292)

110SJT—M060D(A□) φ190-0.013 φ950-0.035 212 (263) 267 (318)
110SJT—M060E(A□) φ190-0.013 φ950-0.035 212 (263) 267 (318)
Note: The LB and L figures in the brackets are the lengths of the motors with dead

electromagnet brake of the corresponding specification.

(3) External view and installation dimensions of SJT series of AC servomotors with 130# base

Fig. 8-3 External view and installation dimensions of SJT series of AC servomotors with 130# base
Table 8-8
Model No. D(mm) N(mm) LB(mm) L(mm)
130SJT—M040D(A□) φ220-0.013 φ1100-0.035 168 (227) 225 (284)

130SJT—M050D(A□) φ220-0.013 φ1100-0.035 168 (227) 225 (284)

130SJT—M060D(A□) φ220-0.013 φ1100-0.035 176 (235) 233 (292)

130SJT—M075D(A□) φ220-0.013 φ1100-0.035 188 (247) 245 (304)

130SJT—M100B(A□) φ220-0.013 φ1100-0.035 208 (267) 265 (324)

130SJT—M100D(A□) φ220-0.013 φ1100-0.035 208 (267) 265 (324)

130SJT—M150B(A□) φ220-0.013 φ1100-0.035 238 (297) 295 (354)

130SJT—M150D(A□) φ220-0.013 φ1100-0.035 248 (307) 305 (364)

Note: The LB and L figures in the brackets are the lengths of the motors with dead

electromagnet brake of the corresponding specification.

(4) External view and installation dimensions of 175SJT series of motors

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 GE2000 Series AC Servo Drive Unit User Manual

Figure 8-5 External view and installation dimensions of SJT series of AC servomotors with 175# base

Table 8-9

Model No. D(mm) N(mm) LB(mm) L(mm)

175SJT—M150D(A□) φ350+0.01 φ114.30-0.025 224 (291) 303 (370)
175SJT—M180B(A□) φ350+0.01 φ114.30-0.025 244 (311) 323 (390)
175SJT—M180D(A□) φ350+0.01 φ114.30-0.025 244 (311) 323 (390)
175SJT—M220B(A□) φ350+0.01 φ114.30-0.025 279 (346) 358 (425)
175SJT—M220D(A□) φ350+0.01 φ114.30-0.025 279 (346) 358 (425)
175SJT—M300B(A□) φ350+0.01 φ114.30-0.025 309 (382) 388 (461)
175SJT—M300D(A□) φ350+0.01 φ114.30-0.025 309 (382) 388 (461)
175SJT—M380B(A□) φ350+0.01 φ114.30-0.025 359 (432) 438 (561)

Note: The LB and L figures in the brackets are the lengths of the motors with dead electromagnet brake of the

corresponding specification.

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8.3 Isolation Transformer

Supply of power to the servo unit through an isolation transformer may minimize the potential
interference with the servo unit by power sources and electromagnetic field. The selection of an
isolation transformer depends on the rated capacity, load rate and loading constant rate of the drive
unit.
① A 3-phase isolation transformer shall be used for supplying of power when the power of the
servo is greater than or equal to 1kW.
For single axis, the capacity of the isolation transformer shall not be less than 80% of the power of
the servo motor. A user may select a transformer with capacity between 70% and 100% of the power
of the servo motor.
② For two or more axes, the capacity of the isolation transformer shall not be less than 70% of
the total power of the servo motor. A user may select a transformer with capacity between 60% and
80% of the power of the servo motor.

Table 8-10 Specification of Isolation Transformer

Model No Capacity (kVA) Phases Input voltage (V) Output voltage (V)
BS--120 1.2
BS--200 2.0 3 phases
BS--300 3.0 380 220
BD--80 0.8 Single
BD--120 1.2 phase

The diagrams shows the dimensions in mm of the isolation transformer.

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 GE2000 Series AC Servo Drive Unit User Manual

Figure 8-6 External view and installation dimensions of BS-120

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Figure 8-7 External view and installation dimensions of BS-200

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 GE2000 Series AC Servo Drive Unit User Manual

Figure 8-8 External view and installation dimensions of BS-300

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Figure 8-9 External view and installation dimensions of BD-80

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 GE2000 Series AC Servo Drive Unit User Manual

Figure 8-10 External view and installation dimensions of BD-120

8.4 External Brake Resistance

1. Brake resistance model

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 Chapter 9 Ordering Guide

RXLG 500W 22R J J

Wire method M:terminal，J：lead
Resistance precision K:+10%，J:+5％
Brake resistance value 22R means 22Ω
Brake power：100W～2000W
Product code

2. Brake resistance size

Brake resistance Size（mm） Wiring Lead length Terminal

Servo unit specification（W/Ω） 2
A B C D （mm ） （m）

GE2025T/GE2030T 300/30（option） 215 205 60 30 2.5 1 M5

GE2045T/GE2050T 500/22（option） 335 325 60 30 2.5 1 M5

GE2075-T 800/15 420 410 61 59 2.5 1 M5

GE2100-T 1200/10 485 473 50 107 2.5 1 M5

3. Brake resistance installation interval

100mm
Drive unit or other devices

150mm 150mm

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 GE2000 Series AC Servo Drive Unit User Manual

Chapter 9 Ordering Guide

9.1 Capacity Selection

To determine the capacity of a servo device, give comprehensive consideration of its load inertia,
load torque, required positioning accuracy and required maximum speed in the following steps:

1） Calculate its load inertia and torque

Calculate its load inertia, load torque, acceleration/deceleration torque, load torque and active
torque as the basis for further selection by consulting the related data.

2） Preliminarily determine the mechanical gear ratio

Calculate the maximum mechanical gear reduction ratio using the required maximum speed and
maximum rotating speed of the motor and check that reduction ratio and the minimum unit of
revolution can satisfy the requirements of minimum unit of position. For high requirement for position
accuracy, increase the mechanical reduction ratio (the actual maximum speed is reduced) or use a
motor with higher rotating speed.

3） Check the inertia and torque

Convert the load inertia and load torque to the motor axis with the mechanical reduction ratio.
The converted inertia and active torque shall not exceed five times the inertia of the motor inertia and
the rated torque of the motor respectively. If the above requirements cannot be fulfilled, increase the
mechanical reduction ratio (the actual maximum speed is reduced) or use a motor with higher rotating
speed.

9.2 Electronic Gear Ratio

Refer to Chapter 4 (Table 4-2 Functions of Parameters), Chapter 6 (6.3 Parameter Setting) and
Chapter 7 (7.3 Adjustment) for the meaning and adjusting methods of the electronic gear ratio G.

The actual speed of the load in position control mode is:

Command pulse speed ×G× Mechanical reduction ratio
The actual minimum displacement of the load in the position control mode is:
Minimum command pulse stroke x G x Mechanical reduction ratio
Note: when the electronic gear ratio G is not 1, there may be a remainder in the division operation of the gear

ratio. Now there is a position deviation and the maximum deviation is the minimum movement

(minimum resolution).

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9.3 Stop Characteristics

When a train of impulses is used to control the servomotor in the position control mode, the
difference between command pulse and feedback pulse is called lagging pulse. The figure is
accumulated in the position deviation counter. It forms the following relationship with command pulse
frequency, electronic gear ratio and proportional gain of position:

f * ×G
ε=
Kp

Where,
ε: Lagging pulse (Puls);
f: Command pulse frequency (Hz);
Kp: Proportional gain of position (1/S);
G: Electronic gear ratio
Note: The above relationship is obtained under the condition that [Feedforward gain of position] is 0%. If

[Feedforward gain of position] is above 0%, the lagging pulse will be less than the result of the above

formulae.

9.4 Calculation for Type Selection of Servo and Position Controller

Command position and actual displacement:

I CR DR 1 ZD
S= ⋅ ⋅ ⋅ ⋅ ⋅L
δ CD DD ST ZM

Where, S: actual displacement, mm; I: command displacement, mm;

δ: minimum unit of CNCk, mm; CR: command multiplier factor;
CD: command frequency division factor DR: servo multiplier factor;
DD: servo frequency division factor ST: number of divisions each revolution of
servo motor
ZD: number of teeth on the side gear of motor; ZM: number of teeth on the side gear
of screw
L: screw lead, mm
Generally S is equal to I and the command value to the actual value.

F CR
⋅ ≤ f max
60 × δ CD

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 GE2000 Series AC Servo Drive Unit User Manual

1. Maximum Command Speed of CNC

Where F: command speed, mm/min;

fmax: maximum output frequency of CNC, Hz (128000 for GSK980)

2. Maximum Speed of Servo System

DR
V max = nmax × ×L
DD
Where, Vmax: maximum speed of workbench permitted by servo system, mm/min;
nmax: permissible maximum rotating speed of servomotor, rpm;
Actual maximum speed of machine tool Maximum speed limit of CNC and servo system

⎡ ⎛ CR ⎞ DR ⎤ 1 ZD L
α = INT ⎢ INT ⎜ N ⋅ ⎟⋅ ⎥ ⋅ ⋅ ⋅
⎣ ⎝ CD ⎠ DD ⎦ min ST ZM δ

3. Minimum Displacement of Machine Tool

Where, α: minimum displacement of machine tool, mm;

N: natural number;
INT ( ): round-off number;
INT[ ]min: minimum integer;

9.5 Examples of Model Numbers Available for Ordering

Table 9—5-1 Example of types of SJT series of 2500-line incremental servomotor available for ordering

Drive unit Main specification of motor

Rated Rated Rated Rated

Model No. PA1 Motor Model No. Encoder
power current torque speed

2500-line

55 80SJT-M024C 0.5kW 3A 2.4N·m 2000r/min incremental

type

2500-line

GE2030T-LP1 56 80SJT-M024E 0.75kW 4.8A 2.4N·m 3000r/min incremental

type

2500-line

57 80SJT-M032C 0.66kW 5A 3.2N·m 2000r/min incremental

type

GE2030T-LP1 58 80SJT-M032E 1.0kW 6.2A 3.2N·m 3000r/min 2500-line

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incremental

type

2500-line

59 110SJT-M040D(A) 1.0kW 4.5A 4N·m 2500r/min incremental

type
GE2030T-LP1
110SJT-M040E(A) 2500-line

60 1.2kW 5A 4N·m 3000r/min incremental

type

110SJT-M060D(A) 2500-line

61 1.5kW 7A 6N·m 2500r/min incremental

type
GE2050T-LP1
110SJT-M060E(A) 2500-line

62 1.8kW 8A 6N·m 3000r/min incremental

type

130SJT-M040D(A) 2500-line

63 1.0kW 4A 4N·m 2500r/min incremental

type
GE2030T-LP1
2500-line

64 130SJT-M050D(A) 1.3kW 5A 5N·m 2500r/min incremental

type

2500-line

65 130SJT-M060D(A) 1.5kW 6A 6N·m 2500r/min incremental

type

2500-line

66 130SJT-M075D(A) 1.88kW 7.5A 7.5N·m 2500r/min incremental

type

2500-line

GE2050T-LP1 67 130SJT-M100B(A) 1.5kW 6A 10N·m 1500r/min incremental

type

2500-line

68 130SJT-M100D(A) 2.5kW 10A 10N·m 2500r/min incremental

type

2500-line

69 130SJT-M150B(A) 2.3kW 8.5A 15N·m 1500r/min incremental

type

GE2075T-LP1
70 130SJT-M150D(A) 3.9kW 14.5A 15N·m 2500r/min 2500-line

incremental

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 GE2000 Series AC Servo Drive Unit User Manual

type

2500-line

71 175SJT-M150D(A) 3.1kW 14A 12N·m 2500r/min incremental

type

2500-line

72 175SJT-M180B 2.8kW 15A 18N·m 1500r/min incremental

type

2500-line

73 175SJT-M180D 3.8kW 16.5A 14.5N·m 2500r/min incremental

type

2500-line

74 175SJT-M220B 3.5kW 17.5A 22N·m 1500r/min incremental

type

2500-line

75 175SJT-M220D 4.5kW 19A 17.6N·m 2500r/min incremental

type
GE2100T-LP1
2500-line

76 175SJT-M300B 4.7kW 24A 30N·m 1500r/min incremental

type

2500-line

77 175SJT-M300D 6.0kW 27.5A 24N·m 2500r/min incremental

type

2500-line

78 175SJT-M380B 6.0kW 29A 38N·m 1500r/min incremental

type

Table 9-5-2 Example of types of SJT series of 5000-line incremental servomotor available for
ordering

Drive unit Main specification of motor

Rated Rated Rated Rated

Model No. PA1 Motor Model No. Encoder
power current torque speed

5000-line

GE2030T-LP1 15 80SJT-M024C(A2) 0.5kW 3A 2.4N·m 2000r/min incremental

type

5000-line

16 80SJT-M024E(A2) 0.75kW 4.8A 2.4N·m 3000r/min incremental

type

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5000-line

17 80SJT-M032C(A2) 0.66kW 5A 3.2N·m 2000r/min incremental

type

5000-line

GE2030T-LP1 18 80SJT-M032E(A2) 1.0kW 6.2A 3.2N·m 3000r/min incremental

type

5000-line

19 110SJT-M040D(A2) 1.0kW 4.5A 4N·m 2500r/min incremental

type
GE2030T-LP1
5000-line

20 110SJT-M040E(A2) 1.2kW 5A 4N·m 3000r/min incremental

type

5000-line

21 110SJT-M060D(A2) 1.5kW 7A 6N·m 2500r/min incremental

type
GE2050T-LP1
5000-line

22 110SJT-M060E(A2) 1.8kW 8A 6N·m 3000r/min incremental

type

5000-line

23 130SJT-M040D(A2) 1.0kW 4A 4N·m 2500r/min incremental

type
GE2030T-LP1
5000-line

24 130SJT-M050D(A2) 1.3kW 5A 5N·m 2500r/min incremental

type

5000-line

25 130SJT-M060D(A2) 1.5kW 6A 6N·m 2500r/min incremental

type

5000-line

26 130SJT-M075D(A2) 1.88kW 7.5A 7.5N·m 2500r/min incremental

type

GE2050T-LP1 5000-line

27 130SJT-M100B(A2) 1.5kW 6A 10N·m 1500r/min incremental

type

5000-line

28 130SJT-M100D(A2) 2.5kW 10A 10N·m 2500r/min incremental

type

29 130SJT-M150B(A2) 2.3kW 8.5A 15N·m 1500r/min 5000-line

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incremental

type

5000-line

30 130SJT-M150D(A2) 3.9kW 14.5A 15N·m 2500r/min incremental

type

5000-line

GE2075T-LP1 31 175SJT-M150D(A2) 3.1kW 14A 12N·m 2500r/min incremental

type

5000-line

32 175SJT-M180B(A2) 2.8kW 15A 18N·m 1500r/min incremental

type

5000-line

33 175SJT-M180D(A2) 3.8kW 16.5A 14.5N·m 2500r/min incremental

type

5000-line

34 175SJT-M220B(A2) 3.5kW 17.5A 22N·m 1500r/min incremental

type

5000-line

35 175SJT-M220D(A2) 4.5kW 19A 17.6N·m 2500r/min incremental

type
GE2100T-LP1
5000-line

36 175SJT-M300B(A2) 4.7kW 24A 30N·m 1500r/min incremental

type

5000-line

37 175SJT-M300D(A2) 6.0kW 27.5A 24N·m 2500r/min incremental

type

5000-line

38 175SJT-M380B(A2) 6.0kW 29A 38N·m 1500r/min incremental

type

Table 9-5-3 Example of types of SJT series of Tamagawa 17-bit absolute servomotor available for
ordering

Drive unit Main specification of motor

Rated Rated Rated Rated

Model No. PA1 Motor Model No. Encoder
power current torque speed

131072-line
GE2030T-LB1 55 80SJT-M024C(A4) 0.5kW 3A 2.4N·m 2000r/min
absolute type

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 Chapter 9 Ordering Guide

131072-line
56 80SJT-M024E(A4) 0.75kW 4.8A 2.4N·m 3000r/min
absolute type

131072-line
57 80SJT-M032C(A4) 0.66kW 5A 3.2N·m 2000r/min
absolute type

131072-line
GE2030T-LB1 58 80SJT-M032E(A4) 1.0kW 6.2A 3.2N·m 3000r/min
absolute type

131072-line
59 110SJT-M040D(A4) 1.0kW 4.5A 4N·m 2500r/min
absolute type
GE2030T-LB1
131072-line
60 110SJT-M040E(A4) 1.2kW 5A 4N·m 3000r/min
absolute type

131072-line
61 110SJT-M060D(A4) 1.5kW 7A 6N·m 2500r/min
absolute type
GE2050T-LB1
131072-line
62 110SJT-M060E(A4) 1.8kW 8A 6N·m 3000r/min
absolute type

131072-line
63 130SJT-M040D(A4) 1.0kW 4A 4N·m 2500r/min
absolute type
GE2030T-LB1
131072-line
64 130SJT-M050D(A4) 1.3kW 5A 5N·m 2500r/min
absolute type

131072-line
65 130SJT-M060D(A4) 1.5kW 6A 6N·m 2500r/min
absolute type

131072-line
66 130SJT-M075D(A4) 1.88kW 7.5A 7.5N·m 2500r/min
absolute type

131072-line
GE2050T-LB1 67 130SJT-M100B(A4) 1.5kW 6A 10N·m 1500r/min
absolute type

131072-line
68 130SJT-M100D(A4) 2.5kW 10A 10N·m 2500r/min
absolute type

131072-line
69 130SJT-M150B(A4) 2.3kW 8.5A 15N·m 1500r/min
absolute type

131072-line
70 130SJT-M150D(A4) 3.9kW 14.5A 15N·m 2500r/min
absolute type

131072-line
GE2075T-LB1 71 175SJT-M150D(A4) 3.1kW 14A 12N·m 2500r/min
absolute type

131072-line
72 175SJT-M180B(A4) 2.8kW 15A 18N·m 1500r/min
absolute type

131072-line
GE2100T-LB1 73 175SJT-M180D(A4) 3.8kW 16.5A 14.5N·m 2500r/min
absolute type

74 175SJT-M220B(A4) 3.5kW 17.5A 22N·m 1500r/min 131072-line

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 GE2000 Series AC Servo Drive Unit User Manual

absolute type

131072-line
75 175SJT-M220D(A4) 4.5kW 19A 17.6N·m 2500r/min
absolute type

131072-line
76 175SJT-M300B(A4) 4.7kW 24A 30N·m 1500r/min
absolute type

131072-line
77 175SJT-M300D(A4) 6.0kW 27.5A 24N·m 2500r/min
absolute type

131072-line
78 175SJT-M380B(A4) 6.0kW 29A 38N·m 1500r/min
absolute type

Table 9-5-4 Example of types of SJT series of Danaher 17-bit absolute servomotor available for
ordering

Drive unit Main specification of motor

Rated Rated Rated Rated

Model No. PA1 Motor Model No. Encoder
power current torque speed

131072-line
55 80SJT-M024C(A4I) 0.5kW 3A 2.4N·m 2000r/min
absolute type

131072-line
GE2030T-LA1 56 80SJT-M024E(A4I) 0.75kW 4.8A 2.4N·m 3000r/min
absolute type

131072-line
57 80SJT-M032C(A4I) 0.66kW 5A 3.2N·m 2000r/min
absolute type

131072-line
GE2030T-LA1 58 80SJT-M032E(A4I) 1.0kW 6.2A 3.2N·m 3000r/min
absolute type

131072-line
59 110SJT-M040D(A4I) 1.0kW 4.5A 4N·m 2500r/min
absolute type
GE2030T-LA1
131072-line
60 110SJT-M040E(A4I) 1.2kW 5A 4N·m 3000r/min
absolute type

131072-line
61 110SJT-M060D(A4I) 1.5kW 7A 6N·m 2500r/min
absolute type
GE2050T-LA1
131072-line
62 110SJT-M060E(A4I) 1.8kW 8A 6N·m 3000r/min
absolute type

131072-line
63 130SJT-M040D(A4I) 1.0kW 4A 4N·m 2500r/min
absolute type
GE2030T-LA1
131072-line
64 130SJT-M050D(A4I) 1.3kW 5A 5N·m 2500r/min
absolute type

131072-line
GE2050T-LA1 65 130SJT-M060D(A4I) 1.5kW 6A 6N·m 2500r/min
absolute type

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 Chapter 9 Ordering Guide

131072-line
66 130SJT-M075D(A4I) 1.88kW 7.5A 7.5N·m 2500r/min
absolute type

131072-line
67 130SJT-M100B(A4I) 1.5kW 6A 10N·m 1500r/min
absolute type

131072-line
68 130SJT-M100D(A4I) 2.5kW 10A 10N·m 2500r/min
absolute type

131072-line
69 130SJT-M150B(A4I) 2.3kW 8.5A 15N·m 1500r/min
absolute type

131072-line
70 130SJT-M150D(A4I) 3.9kW 14.5A 15N·m 2500r/min
absolute type

131072-line
GE2075T-LA1 71 175SJT-M150D(A4I) 3.1kW 14A 12N·m 2500r/min
absolute type

131072-line
72 175SJT-M180B(A4I) 2.8kW 15A 18N·m 1500r/min
absolute type

131072-line
73 175SJT-M180D(A4I) 3.8kW 16.5A 14.5N·m 2500r/min
absolute type

131072-line
74 175SJT-M220B(A4I) 3.5kW 17.5A 22N·m 1500r/min
absolute type

131072-line
75 175SJT-M220D(A4I) 4.5kW 19A 17.6N·m 2500r/min
absolute type
GE2100T-LA1
131072-line
76 175SJT-M300B(A4I) 4.7kW 24A 30N·m 1500r/min
absolute type

131072-line
77 175SJT-M300D(A4I) 6kW 27.5A 24N·m 2500r/min
absolute type

131072-line
78 175SJT-M380B(A4I) 6.0kW 29A 38N·m 1500r/min
absolute type

95